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Proceedings Paper

Variational approach to sensor fusion using registered range and intensity data
Author(s): Homer H. Pien; John M. Gauch
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Paper Abstract

Past research into multi-modality sensor data fusion has given rise to approaches that can be characterized as heuristical and ad hoc. In this paper we propose a framework for fusing different modalities of registered sensory inputs at the data level by using the calculus of variations. The result is a mathematically rigorous method for improving the data quality, which can subsequently be utilized for fusion at the higher levels. We demonstrate this approach on the problem of estimating the three dimensional scene via the use of simulated noisy range and intensity images. The results indicate that a significant improvement over shape estimation via either shape from shading or shape from ranging alone can be achieved. The applicability of our fusion paradigm to other fusion problems is also discussed.

Paper Details

Date Published: 3 September 1993
PDF: 12 pages
Proc. SPIE 1956, Sensor Fusion and Aerospace Applications, (3 September 1993); doi: 10.1117/12.155088
Show Author Affiliations
Homer H. Pien, Charles Stark Draper Lab., Inc. and Northeastern Univ. (United States)
John M. Gauch, Northeastern Univ. (United States)


Published in SPIE Proceedings Vol. 1956:
Sensor Fusion and Aerospace Applications
Jake K. Aggarwal; Nagaraj Nandhakumar, Editor(s)

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