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 Upcroft, B., Ridley, M.F., Ong, L., Douillard, B., Kaupp, T., Kumar, S., Bailey, T.A., Ramos, F.T., Makarenko, A., Brooks, A., Sukkarieh, S. & Durrant-Whyte, H.F. |
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Multi-level State Estimation in an Outdoor Decentralised Sensor Network
Proceedings of the International Symposium on Experimental Robotics, 2006, Jun, 2006
Presented at International Symposium on Experimental Robotics, 25 Jun. - 30 Jun. 2006
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Abstract
Decentralised estimation of heterogeneous sensors is performed on an
outdoor network. Attributes such as position, appearance, and identity represented
by non-Gaussian distributions are used in in the fusion process. It is shown here
that real-time decentralised data fusion of non-Gaussian estimates can be used to
build rich environmental maps. Human operators are also used as additional sensors
in the network to complement robotic information.
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