Rr. Murphy, BIOLOGICAL AND COGNITIVE FOUNDATIONS OF INTELLIGENT SENSOR FUSION, IEEE transactions on systems, man and cybernetics. Part A. Systems and humans, 26(1), 1996, pp. 42-51
Citations number
51
Categorie Soggetti
System Science",Ergonomics,"Computer Science Cybernetics
Sensor fusion is being increasingly viewed as an important perceptual
activity in mobile robotics. While the potential benefits of sensor fu
sion have motivated much research, no general purpose method for accom
plishing sensor fusion has emerged. This paper reviews the literature
from the biological and cognitive sciences in sensory integration and
derives principles for use in constructing intelligent sensor fusion s
ystems, In particular, it presents psychophysical and neurophysical st
udies on how sensor fusion is accomplished and cognitive models of ass
ociated activities, including optimization of sensing configurations,
improvement of sensing quality, and filtering of noise. The Sensor Fus
ion Effects (SFX) 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, esp
ecially that of fusion modes. Other representative architectures for r
obotic sensor fusion are contrasted with the biological and cognitive
principles.