<title>Sensor confidence in sensor integration tasks: a model for sensor performance measurement</title>

摘要

This paper addresses the problem of determining the reliability of individual sensors in a multi-sensor robotic system in an unknown environment. A system which can determine the reliability of its sensors is in general a more robust system since it can wisely decide which sensors are most appropriate for a given task and can also determine whether sensor conflicts are the result of poorly performing sensors. This research focuses on sensor confidence, which we define as the trust placed in a sensor based on its performance or based upon how well the system judges it to perform. The sensor's performance is its execution of the act of sensing -- its response to stimulus from the environment. Based upon our work the overall system determines which sensors perform reliably; it does not attempt to make the sensors more reliable. In other words, we are trying to provide information to the system reflecting the degree to which the sensors can be believed, we are not trying to find ways to modify the sensors or their performance to make them more believable.