Abstract
In this article, we propose a generic architecture for sensor data fusion and argue that the central issue in such an approach is the choice of a suitable representation of the robot's environment. We argue that for the navigation task a robot-centered discrete probabilistic representation (an occupancy grid) is a suitable choice. If such a representation is used, the two key problems are how to transform such representations upon robot motion and how to represent the sensor's error characteristics (the sensor model) in such a representation. For both these problems, solutions are suggested by the application of neural network theory, and it is argued that these neural networks are the best available alternatives.
The investigations were supported by the Foundation for Computer Science in the Netherlands (SION) with financial support from the Netherlands Organisation for Scientific Research (NWO).
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© 1996 Springer-Verlag Berlin Heidelberg
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van Dam, J.W.M., Kröse, B.J.A., Groen, F.C.A. (1996). Neural network applications in sensor fusion for an autonomous mobile robot. In: Dorst, L., van Lambalgen, M., Voorbraak, F. (eds) Reasoning with Uncertainty in Robotics. RUR 1995. Lecture Notes in Computer Science, vol 1093. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0013966
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DOI: https://doi.org/10.1007/BFb0013966
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