IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans · 1996 · 103 citations · 19 references
EngineeringNeuroscienceRobotics EngineeringRobot PerceptionRoboticsSensor FusionDecision-level FusionMultisensory IntegrationSensor IntegrationSensory IntegrationSensory ProcessingSensory-motor IntegrationHuman-robot NavigationMobile Robot NavigationMulti-modal Sensor FusionSensor Data FusionSensor Fusion ArchitectureSensor Fusion For NavigationSensor Fusion For RoboticsSensor Fusion Optimization
The paper reviews biological and cognitive science literature on sensory integration to derive principles for building intelligent sensor fusion systems. It synthesizes psychophysical, neurophysical, and cognitive models of sensor fusion, illustrating their application in a robot navigation architecture and contrasting them with other robotic fusion designs. Experiments confirm that incorporating biological and cognitive fusion modes improves sensor fusion performance.
This paper reviews the literature from the biological and cognitive sciences in sensory integration and derives principles for use in constructing intelligent sensor fusion systems. In particular, it presents psychophysical and neurophysical studies on how sensor fusion is accomplished and cognitive models of associated activities, including optimization of sensing configurations, improvement of sensing quality, and filtering of noise. The sensor fusion effects architecture for robot navigation is also presented as one example of how these insights from the biological and computer science can be applied to robotic sensor fusion. Experimental results demonstrates the utility of the biological and cognitive insights, especially that of fusion modes. Other representative architectures for robotic sensor fusion are contrasted with the biological and cognitive principles.
19