Multi sensor Fusion and Integration for Intelligent Systems

1994 IEEE International Conference on Multi sensor Fusion and Integration for Intelligent Systems October 2-5, 1994 Las Vegas, Nevada, USA TOC 94TH06965 UB/TIB Hannover 89 112 475 949

Navigation I MFI'94 Table of Contents A Frequency Response Method for Multi-Sensor High-Speed Navigation Systems 1 S. Cooper andh. Durrant-Whyte Accurate Navigation via Differential GPS and Vehicle Local Sensors 9 K. Kobayashi, F. Munekata, and K. Watanabe On Robot Navigation Using Identical Landmarks: Integrating Measurements from a Time-of-Flight Laser... 17 U. Larsson, J. Forsberg, and A. Wernersson Fault Detection A Failure Detection and Isolation Algorithm for a Decentralised Multisensor System 27 M. Fernandez andh.f. Durrant-Whyte Fault Diagnosis of Plant Systems Using Immune Networks 34 A. Ishiguro, Y. Watanabe, and Y. Uchikawa Multi-Sensor Fault Detection and Diagnosis Using Combined Qualitative and Quantitative Techniques 43 Y. Gao, and H.F. Durrant-Whyte Low Level Fusion Algorithms I Dynamic Reconfiguration of Parallel Sensor Integration System by Model Estimation 51 T. Kawashima, T. Nagasaki, M. Toda, and Y. Aoki Filter Design Method of Multiple Model System 59 Y. Dong, and Z. Hongyue One-Dimensional Sequential Sensor Fusion 64 K Tanner Sensor Data Fusion Using Pitman's Closeness Technique and Complete Linkage Algorithm 72 G.V.S. RajuandH. Wang Navigation II Adaptative Localization of an Autonomous Mobile Robot in Natural Environments 77 S. Betge-Brezetz, R. Chatila, M. Devy, P. Fillatreau, and F. Nashashibi Adaptive Sensor Integration for Mobile Robot Navigation 85 C.-C. Lin, and R.L. Tummala Dynamic Localisation of Autonomous Guided Vehicles 92 S. Borthwick andh. Durrant-Whyte Potential-Based Modeling of Two Dimensional Workspace Using Several Source Distributions 98 J.-H. Chuang VII

Sensor Fusion Architectures A Priority-based Parallel Architecture for Sensor Fusion 105 K. Nishida, K. Toda, E. Takahashi, and Y. Yamaguchi Data Fusion Using Large Multi-Agent Networks: An Analysis of Network Structure and Performance 113 A. Knoll and J. Meinkoehn Modular Scalable Robot Control 121 A.G.O. Mutambara and H.F. Durrant-Whyte Parallel Extended Local Feature Extraction on Distributed Memory Computer 128 J.-H. Baek, Y.-S. Chang, and K.A. Teague Low Level Fusion Algorithms II An Auto Calibration Scheme for Sensor Fusion 136 EC YehandC.S. Wang An Autonomous Fuzzy Logic Architecture for Multisensor Data Fusion 143 R.E. Gibson, D.L. Hall, andj.a. Stover, Fuzzy Logic-Based Data Integration: Theory and Applications 151 M. Abdulghqfour, A. Fellah, and M.A. Abidi Wavelet-based Primal Vision Model with Selective Attention Mechanism 161 A. Wang and N. Zheng Sensing Strategy and Recognizing Attractor 169 C. Yuhui, T. Ikegami, K. Takamasu, and S. Ozono Navigation III Action-oriented Sensor Data Integration and Its Application to control of an Autonomous vehicle 175 M. Niizuma, M. Tomizawa, Y. Kawano, M. Sugiyama, T. Oikawa, S. Misono, and S. Degawa Local Path Planning in Dynamic Environments with Uncertainty 183 A. Elnagar and A. Basu Navigation of a Quadruped Robot in Uneven Terrain with Multiple Foot Sensors 191 T. Oomichi, Y. Fuke, and T. Hayashi Uncertainty and Reliability Integrating Multisensor Noisy and Fuzzy Data 199 L. Hong and G. -J. Wang Simple Local Partition Rules in Multi-bit Decision Fusion 207 M. Kam andx. Zhu Reliability in Decentralised Data Fusion Networks 215 S. UteteandHF. Durrant-Whyte VIII

Uncertainty-Management-Network-Based Dynamic Sensor Model 222 C.S.G. Lee ands. Park Tactile Sensing A Mono-Structural Thin Plate Touch Sensor with Compound Electrical Sensing Functions for Discrimination of Material Properties 230 K. Shida and D. Li Dynamic Tactile Information Sensing for Dextrous Fingers Utilizing Displacement Parameters of a Suspension Shell 235 T. Okada, K. Inamura, and T. Suzuki Use of Tactile Sensors in Enhancing the Efficiency of Vision-Based Object Localization 243 M. Boshra, and H. Zhang Fuzzy Logic Based Robot Navigation A Reflexive Navigation Algortihm for an Autonomous Mobile Robot 251 J. Vandorpe and H. Van Brussel Fuzzy Logic Based Robot Navigation in Uncertain Environments by Multisensor Integration 259 W.Li Motion Planning for Multiple Obstacles Avoidance of Autonomous Mobile Robot Using Hierarchical Fuzzy Rules 265 T. Aoki, M. Matsuno, T. Suzuki, and S. Okuma Multi-Layered Fuzzy Behavior Fusion for Real-Time Control of Systems with Many Sensors 272 S.G. Goodridge, R.C. Luo, andm.g. Kay Haptic Recognition Haptic Object Recognition with a Dextrous Hand Based on Volumetric Shape Representations 280 S. Caselli, C. Magnanini, and F. Zanichelli Haptic Recognition System with Sensory Integration and Attentional Perception 288 Y. Sakaguchi and K. Nakano Recognition of 3D Objects by a 3-Fingered Robot Hand Equipped with Tactile and Force Sensors 297 H. Hahn Range Based Representations Integration of Vision and Laser Displacement Sensor for Efficient and Precise Digitizing 305 C.-C. Huang and Y.F. Zheng Signature Search Method for 3-D Pose Refinement with Range Data 312 N. Burtnyk and M. Greenspan Specular Objects in Range Cameras: Reducing Ambiguities by Motion 320 J. Nygards and A. Wernersson IX

Vision and Range Sensor Fusion An Algebraic Framework for Fusing Geometric Constraints of Vision and Range Sensor Data 329 K. Deguchi Industrial Vision System by Fusing Range Image and Intensity Image 337 K. Umeda and T. Arai Multi-Sensory Fusion and Model-Based Recognition of Complex Objects 345 M. Devy and R. Boumaza Position Control of Vision Based Robot Hand-Fusion of 2-D Image and Discrete Range Image by Multi-Agents 353 K. Nakazawa and T. Oshita Force/Torque Fusion Adaptive Masticatory Jaw Motion Using Jaw Position and Biting Force Information 360 H. Takanobu, T. Tanase, A. Takanishi, and I. Kato Contact State Detection by Force Sensing for Assembly Tasks 366 K. Kitagaki, T. Ogasawara, and T. Suehiro On-Line Trajectory Planning for Autonomous Robotic Excavation Based on Force/Torque Sensor Measurements 371 F.-Y. Wang and P. J.A. Lever Shaping Control of Plastic Object by Robot Hand with Sensor Fusion Processing 792 R. Masuda and M. Sasaki High Level Fusion Algorithms Belief Formation from Observation and Belief Integration Using Virtual Belief Space in Dempster-Shafer Probability Model 379 T. Matsuyama Evidence Combination Using Fuzzy Linguistic Terms in a Dynamic, Multisensor Environment 387 B. Hussien, A. Ismael, and M. Bender Integrating Multiple Knowledge Sources Using Genetic Algorithm Applied to Hierarchically Structured Sensor Data 395 T. Sawaragi, J. Umemura, O. Katai, ands. Iwai Multi-Source Information Integration in Intelligent Systems Using the Plausibility Measure 403 Z Luo and D. Li New Hyper-Distributed Hyper-Parallel AI Approach Based on Chaotic Bifurcations and Synchronizations 410 D. Shuai and Y. Watanabe

Real Time Sensor Fusion for Target Detection, Tracking, and Law Enforcement I Adaptive Predetection and Off-Board Track and Decision Level Fusion for Enhanced Surveillance 417 /. Radar Fusion TechBroad Area Surveillance Exploiting Ambient Signals via Coherent Fusion Techniques 421 R.F. Ogrodnik Examination of the Fuzzy Subsethood Theorem for Data Fusion 430 D. M. Buede Fusion Technologies for Drug Interdiction 435 C.-Y. Chong andm. Liggins Real-Time Data Fusion Processing of Internetted Acoustic Sensors for Tactical Applications 443 D.C Swans on and D.L. Hall Virtual Reality and Teleoperation Calibration Method of Visual Parameters for See-Through Head-Mounted Display 447 T. Oishi and S. Tachi Coherency of Kinesthetic and Visual Sensation in Virtual Reality System 455 Y. Yanagida and S. Tachi Compensation of Time Lag between Actual and Virtual Spaces by Multi-Sensor Integration 463 S. Emura and S. Tachi Teleoperator-Aided Multi-Sensor Data Fusion For Mobile Robot Navigation 470 S.K. Yeung, W.S. McMath, EM. Petriu, N. TrifandC. Gal Low Level Fusion Algorithms III A Feature-Level Approach to Multi-Sensor Integration; Emphasizing Robotic Applications 477 S. Bruder, M. Farooq and M.M. Bayoumi A Maximum Likelihood Algorithm For Solving the Correspondence Problem In Tri-Aural Perception 485 H. Peremans Audio-Visual Sensor Fusion System for Intelligent Sound Sensing 493 K. Takahashi and H. Yamasaki Multiresolutional Multisensor Target Identification 501 Z Korona and M.M. Kokar Real Time Sensor Fusion for Target Detection, Tracking, and Law Enforcement II Application of Data Fusion to Neonate Oxygenation Control 509 M.E. Kotanchek, J.P. Helferty, W. B. Murray and C. Palmer Improved Tracking of Maneuvering Targets: The Use of Turn-Rate Distributions for Acceleration Modeling 515 J.P. Helferty XI

Multisensor Fusion Using a New Procedure for Ballistic Path Estimation 521 G.R. Zabriskie, C.A. Cummings, and E.A. Rogers Sensor Selectivity and Intelligent Data Fusion 529 S.C.A. Thomopoulos The Reasonability Conditions for the Identical Thresholds Assumption in I.I.D. Parallel Distributed Detection Networks 538 X Hongwei and C. Hong Propagation Mode Estimation: A Prerequisite for OTH Radar Fusion 543 T. Kurien, P. Milanfar, D. Logan, and W. P. Berry, Jr. Object Estimation Determining Geodesies of a Discrete Surface 551 R. N. Zantout and Y.F. Zheng Efficient Surface Reconstruction from Scattered Points Through Geometric Data Fusion 559 M.A. Garcia Subpixel Parameter Estimation for Elliptical Shapes Using Image Sequences 567 J.M. Reed and S.A. Hutchinson Visual Control of Grasping and Manipulation Tasks 575 B.H. Yoshimi andp.k. Allen Sensor Selection and Planning Learning the Expected Utility of Sensors and Algorithms 583 J. Lindner, R.R. Murphy and E. Nitz Sensor Planning with Hierarchically Distributed Perception Net 591 S. Lee andx. Zhao Sensor Selection in a Fusion Process: A Fuzzy Approach 599 C. Giraud and B. Jouvencel The Use of Fuzzy Neural Networks Feature/Sensor Selection 607 M.E. Ulug Active Sensing An Active Sensing Method Using Estimated Errors for Multisensor Fusion Systems 615 T. Mukai and M. Ishikawa Auto Target Detection for a Robot Hand Manipulation Using an Anthropomorphic Active Vision System 623 T. Yagi, N. Asano, S. Makita, and Y. Uchikawa Hierarchical Sensory-Motor Fusion Model with Neural Networks 630 D. Masumoto, H. Yamakawa, T. Kimoto, and S. Nagata XII

Velocity Based Vestibular-Visual Integration in Active Sensing System 639 T. Yamaguchi and H. Yamasaki Position Estimation for Mobile Robots Position Estimation for Mobile Robot Using Sensor Fusion 647 D. Kang, R.C. Luo, H. Hashimoto, and F. Harashima Positioning by Tree Detection Sensor and Dead Reckoning for Outdoor Navigation of a Mobile Robot 653 S. Maeyama, A. Ohya, and S. Yuta Posture Estimation of Mobile Robots: Observers-Sensors 661 H. Medromi, J.Y. Tigli, andm.c. Thomas Transforming The Ego-centered Internal Representation Of An Autonomous Robot With The Cascaded Neural Network 667 J.W.M. van Dam, B.J.A. Krose, andf.c.a. Groen Image Understanding A Stochastic Graph-based Technique for Grouping of Inhomogeneous Image Primitives 675 V. Murino Integrated Use of Multiple Image Sensors to Determine Motion Field 683 K. Aizawa, K Iwata, T. Saito, and M. Hat or i Object Recognition Using a Distributed Cooperative Vision System 690 T. Hamada and K. Kamejima Scene Interpretation by Fusing Intermediate Results of Multiple Visual Sensory Information Processing... 699 Y. Taniguchi, Y. Shirai, and M. Asada Environment Recognition for Mobile Robots Dynamic Configuration of Mobile Robot Perceptual System 707 V. Berge-Cherfaoui and B. Vachon Environment Recognition for a Mobile Robot Using Double Ultrasonic Sensors and a CCD Camera 715 K.-T. Song and W.-H. Tang Perception Planning in Mobile Robot Navigation 723 H. Xu, andj. Vandorpe Multi-Agent Systems MAVI: A Multi-Agent System for Visual Integration 731 O. Boissier and Y. Demazeau Distributed Panoramic Sensing in Multiagent Robotics 739 M.J. Barth and H. Ishiguro XIII

Vision-Based Multisensor Integration in Remote-Brained Robots 747 M. Inaba, S. Kagami, K. Sakaki, F. Kanehiro, and H. Inoue Applications and Implementations An Application of Data Fusion to Landcover Classification of Remote Sensed Imagery: A Neural Network Approach 756 A. Chiuderi, S. Fini, and V. Cappellini Implementation of an Intelligent Roving Robot Using Multiple Sensors 763 S. Hwang and B. P. Kintigh Multisensor Integration In The Tracking of Landing Aircraft 771 Z. Korona and M.M. Kokar Non-Invasive Measurement System for Human Respiratory Condition and Body Temperature 779 E. Toba, S. Sekiguchi, and T. Nishimatsu Vision Sensing for Intelligent Vehicle and Highway Systems 784 C.E. Smith, S.A. Brandt and N.P. Papanikolopoulos Author Index 799 XIV