MULTISENSOR DATA FUSION

EXTENDED OUTLINE

1. Introduction
1.1 Greetings
1.1.1 Welcoming
1.1.2 Topic
1.2 What is Multisensor Data Fusion?
1.3 Why is Multisensor Data Fusion important?
1.3.1 Advantages:
1.3.1.1 Better understanding
1.3.1.2 More robustness
1.3.1.3 More precision

2. Index
2.1 Main methods in Multisensor Data Fusion
2.2 Main architectures in Multisensor Data Fusion
2.3 Applications in Robotics areas
2.4 Conclusions

3. Main methods in Multisensor Data Fusion

3.1 Probabilistic Methods
3.1.1 Bayes’ rule
3.1.1.1 Definition of the method
3.1.1.2 When is it used?
3.1.2 Probabilistic Grids
3.1.2.1 Definition of the method
3.1.2.2 When is it used?
3.1.3 Kalman Filter and Extended Kalman Filter
3.1.3.1 Definition of the method
3.1.3.2 When is it used?
3.1.4 Sequential Monte Carlo methods
3.1.4.1 Definition of the method
3.1.4.2 When is it used?
3.2 Limitations of probabilistic methods:
3.2.1 Complexity
3.2.2 Uncertainty
3.2.3 Precision
3.3 Non-Probabilistic Methods
3.3.1 Fuzzy logic
3.3.2 Interval Calculus
3.3.3 Evidential Reasoning

1
4. Main architectures in Multisensor Data Fusion
4.1 Architectural taxonomy
4.1.1 JDL
4.1.2 High and low level fusion
4.1.3 Architectural framework described by Makarenko
4.1.3.1 Meta-Architecture
4.1.3.2 Algorithmic Architecture
4.1.3.3 Conceptual Architecture
4.1.3.4 Logical Architecture
4.1.3.5 Execution Architecture
4.2 Classification of Multisensor Fusion Architectures
4.2.1 Centralized-Decentralized
4.2.2 Local-Global interaction of components
4.2.3 Modular- Monolithic
4.2.4 Heterarchical-Hierarchical
4.3 Most prevalent combinations
4.3.1 Centralized, Local Interaction, and Hierarchical
4.3.1.1 Example
4.3.2 Decentralized, Global Interaction, and Heterarchical
4.3.2.1 Example
4.3.3 Decentralized, Local Interaction, and Hierarchical
4.3.3.1 Example
4.3.4 Decentralized, Local Interaction, and Heterarchical
4.3.4.1 Example

5. Applications
5.1 Dynamic System Control
5.1.1. Examples
5.1.1.1 Autonomous vehicles
5.1.1.2 Industrial robots
5.2 Environment modelling
5.2.1 Examples
5.2.1.1 City
5.2.1.2 Home
5.2.1.3 Cup of coffee

6. Conclusions
6.1 Research areas
6.1.1 Medical applications
6.1.2 Military applications
6.1.3 Robotics applications