RT Book, Section
T1 Unified fusion system based on bayesian networks for autonomous mobile robots
A1 Besada Portas, Eva
A1 López Orozco, José Antonio
A1 Cruz García, Jesús Manuel de la
AB A multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies that exist between the robot location, the state of the environment, and all the sensorial data. At this stage of the research it consists of two independent DBNs, one for estimating the robot location and another for building an occupancy probabilistic map of the environment, which are the basis of a unified fusion system. The dependencies of the variables and information in the two DBN will be captured by a unique DBN constructed by adding arcs (and nodes if necessary) between the two DBN. The DBN implemented so far can be used in robots with different sets of sensors.
PB Int Soc Information Fusion
SN 0-9721844-2-2
YR 2002
FD 2002-12-31
LK https://hdl.handle.net/20.500.14352/60732
UL https://hdl.handle.net/20.500.14352/60732
LA eng
NO ISF © 2002. International Conference on Information Fusion (Fusion 2002) (5º. 8-11 Jul, 2002. Annapolis, Maryland, EEUU)
DS Docta Complutense
RD 5 abr 2025