A Fusion Centre for Intelligent Robotic Systems
In this paper we present a database-type architecture for intelligent robotic systems, where the database contains a model of the environment surrounding the robot, generated by fusing data provided by a heterogeneous set of sensors, and updated continually in response to changes in the stimuli reaching the sensors. We discuss various forms of sensor fusion, and illustrate our approach with an example involving fusion of vision and taction for object recognition. We also discuss a database-type approach to the development of robotic system applications.
KeywordsObject Recognition Robotic System Fusion Centre Sensory Field Sensor Fusion
Unable to display preview. Download preview PDF.
- Nandhakumar, N. and Aggarwal, J. K. Synergistic Integration of Thermal and Visual Images for Computer Vision, in Proc. SPIE, vol. 782, Infrared Sensors & Sensor Fusion, Buser, R. G. & Warren, E B. (Ed.), 1987, pp. 28–36.Google Scholar
- Blackman, S. S. Theoretical Approaches to Data Association and Fusion, in Proc. SPIE, vol. 931, Sensor Fusion, Weaver, C. W Ed., Orlando, Fl, Apr. 1988, pp. 50–55.Google Scholar
- A. L. Yarbus, Eye Movements and Vision. Plenum Press, New York. 1967.Google Scholar
- Date, C. J. An Introduction to Database Systems, Volume 1, Fifth Edition, Addison Wesley, 1990.Google Scholar
- McKee, G. T. “What can be fused?” Paper presented at the 1988 NATO ARW on Multisensor Fusion for Computer Vision, [to be published].Google Scholar
- Seetharaman, G. and Chu, C-H., Hierarchical Fusion of Geometric Constraints for Image Segmentation, in Proc. SPIE, vol. 1383, Sensor Fusion III: 3-D Perception and Recognition, Schenker, P. S. (Ed.), 1990, pp. 582–588.Google Scholar
- Broida, T. J. Feature Correspondence in Multiple Sensor Data Fusion, in Proc. SPIE, vol. 1383, Sensor Fusion III: 3-D Perception and Recognition, Schenker, P. S. (Ed.), 1990, pp. 635–651.Google Scholar
- Allen, P. K. and Bajcsy, R. Object Recognition Using Vision and Touch, in Proc. 9th hit. Joint Conf. in Artificial Intelligence, Los Angeles, CA, Aug. 1981, pp. 1131–1137.Google Scholar