Behavior analysis of grid-map based sensor fusion algorithms

Ofir Cohen, Shayer Gil, Ephraim Korach, Yael Edan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

Many algorithms for sensor fusion exist; some algorithms have better performance than others. The purpose of this paper is to present a procedure to analyze the behaviour of a sensor fusion algorithm. The analysis reveals the necessary behaviours for performing successful sensory fusion. The analysis methodology was developed for a sensor fusion framework, which assumes three basic concepts: Logical sensors, grid map paradigm and performance measures. Behaviour analysis of the sensor fusion algorithms is conducted by analyzing transition matrices. Three types of behaviours are characterized: Normal, dissimilarity and hysteresis. Five algorithms were compared: Three logical algorithms (AND, OR and MOST) and two adaptive algorithms: Adaptive Fuzzy Logic algorithm and adaptive Dempster Shafer algorithm. The analysis indicated that the MOST, OR and adaptive Fuzzy Logic algorithms are all normal, but the adaptive Fuzzy Logic algorithm has better performance. The adaptive Dempster Shafer has dissimilarity and therefore in some cases diverges.

Original languageEnglish
Title of host publicationProceedings of the IASTED International Conference on Robotics and Applications
EditorsM.H. Hamza
Pages201-206
Number of pages6
StatePublished - 1 Dec 2003
EventProceedings of the IASTED International Conference on Robotics and Applications - Salzburg, Austria
Duration: 25 Jun 200327 Jun 2003

Publication series

NameProceedings of the IASTED International Conference on Robotics and Applications

Conference

ConferenceProceedings of the IASTED International Conference on Robotics and Applications
Country/TerritoryAustria
CitySalzburg
Period25/06/0327/06/03

Keywords

  • Data fusion
  • Logical sensors
  • Mobile robots
  • Performance analysis

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