Planning, acting, and sensor fusion

Robert James Firby

doi:10.1117/12.25286

1 April 1991 Planning, acting, and sensor fusion

Robert James Firby

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25286
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

An intelligent agent must understand its surroundings by integrating sensory data from many sources over time. This integration typically consists of processing raw data into abstract models that fuse the data from many sensors into a consistent interpretation. This process is often quite complex when attempted with raw data because noise, uncertainty, and missing information create ambiguities that cannot be resolved until after an interpretation is chosen. The very same problems exist in generating a consistent interpretation of data over time, in particular, identifying an object as having been ’’seen” before. This paper suggests that sensor interpretation and model building are active processes driven by an agent’s goals, and that many sensor fusion issues are really issues in planning and acting. An object identification system based on consciously gathering appropriate new data is presented as an example of doing active task directed data fusion.

Citation Download Citation

Robert James Firby "Planning, acting, and sensor fusion", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25286

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