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Proceedings Paper

Heterogeneous multisensory integration in robotics: a data representation approach
Author(s): Miguel Angel Garcia; Luis Basanez
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Paper Abstract

A model suitable for the integration of heterogeneous multisensory information in robots is proposed. This model is supported by a structured world representation which describes the contents of the physical workspace at multiple levels of abstraction through a hierarchy of oriented bounding boxes (OBBs). This hierarchical representation is implemented by means of a frame-based system. The latter provides a high degree of flexibility and facilitates the incorporation of the world representation into a larger knowledge-based robotic system. The proposed representation supports the integration of global and local heterogeneous information. Global information encompasses geometric, parametric and procedural information valid or applicable to the contents of each OBB as a whole. Local information provides a detailed description of the shape of 3D surfaces associated with individual OBBs, and scalar data associated with specific points lying on those surfaces. That information is supported by triangular meshes of control points. The proposed model allows the estimation of both the original surfaces and scalar functions defined over those surfaces through a heterogeneous fusion technique that allows for uncertainty.

Paper Details

Date Published: 15 September 1995
PDF: 12 pages
Proc. SPIE 2589, Sensor Fusion and Networked Robotics VIII, (15 September 1995); doi: 10.1117/12.220953
Show Author Affiliations
Miguel Angel Garcia, Polytechnic Univ. of Catalonia/Spanish Council for Scientific Research (Spain)
Luis Basanez, Polytechnic Univ. of Catalonia/Spanish Council for Scientific Research (Spain)


Published in SPIE Proceedings Vol. 2589:
Sensor Fusion and Networked Robotics VIII
Paul S. Schenker; Gerard T. McKee, Editor(s)

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