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Proceedings Paper

High-Level Multisensor Integration
Author(s): Thomas C. Henderson; Olivier D. Faugeras
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Paper Abstract

In this paper we describe an approach to high-level multisensor integration in the context of an autonomous mobile robot. Previous papers have described the development of the INRIA mobile robot subsystems: 1. sensor and actuator systems 2. distance and range analysis 3. feature extraction and segmentation 4. motion detection 5. uncertainty management, and 6. 3-D environment descriptions. We describe here an approach to: the semantic analysis of the 3-D environment descriptions. This analysis is organized in terms of robot goals and behaviors. This is accomplished by the use of logical behaviors. Such an approach allows for active control of the sensors in acquiring information.

Paper Details

Date Published: 5 January 1989
PDF: 8 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948944
Show Author Affiliations
Thomas C. Henderson
Olivier D. Faugeras

Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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