Implementation of Multisensor Data Fusion Algorithm

摘要

Multisensor data fusion is the process of combining observations from a number of different sensors to provide a robust and complete description of an environment or process of interest. Data fusion finds wide application in many areas of robotics such as object recognition, environment mapping, and localization. This work has three parts: methods, architectures and applications. Most current data fusion methods employ probabilistic descriptions of observations and processes and use Bayes’ rule to combine this information. Data fusion systems are often complex combinations of sensor devices, processing and fusion algorithms. This work provides an overview of key principles in data fusion architectures from both a hardware and algorithmic viewpoint. The applications of data fusion are pervasive in UAV and underlay the core problem of sensing, estimation and perception. The highlighted is many applications that bring out these features. The first describes a navigation or self-tracking application for an autonomous vehicle. The second describes an application in mapping and environment modeling. The essential algorithmic tools of data fusion are reasonably well established. However, the development and use of these tools in realistic robotics applications is still developing.