Multisensor Fusion and Integration for Intelligent Systems (eBook)

Preface 5
Contents 6
Contributors 10
Part I Theories in Data and Information Fusion 16
Performance Analysis of GPS/INS Integrated System by Using a Non-Linear Mathematical Model 18
Khalid Touil, Mourad Zribi and Mohammed Benjelloun 18
Object-Level Fusion and Confidence Management in a Multi-Sensor Pedestrian Tracking System 30
Fadi Fayad and Véronique Cherfaoui 30
Effective Lip Localization and Tracking for Achieving Multimodal Speech Recognition 47
Wei Chuan Ooi, Changwon Jeon, Kihyeon Kim, Hanseok Ko and David K. Han 47
Optimal View Selection and Event Retrieval in Multi-Camera Office Environment 58
Han-Saem Park, Soojung Lim, Jun-Ki Min and Sung-Bae Cho 58
Fusion of Multichannel Biosignals Towards Automatic Emotion Recognition 67
Jonghwa Kim and Elisabeth André 67
A Comparison of Track-to-Track Fusion Algorithms for Automotive Sensor Fusion 81
Stephan Matzka and Richard Altendorfer 81
Effective and Efficient Communication of Information 94
Jan Willem Marck, Leon Kester, Miranda van Iersel, Jeroen Bergmans and Eelke van Foeken 94
Most Probable Data Association with Distance and Amplitude Information for Target Tracking in Clutter 107
Taek Lyul Song 107
Simultaneous Multi-Information Fusion and Parameter Estimation for Robust 3-D Indoor Positioning Systems 120
Hui Wang, Andrei Szabo, Joachim Bamberger and Uwe D. Hanebeck 120
Efficient Multi-Target Tracking with Sub-Event IMM-JPDA and One-Point Prime Initialization 135
Seokwon Yeom 135
Enabling Navigation of MAVs through Inertial, Vision, and Air Pressure Sensor Fusion 151
Clark N. Taylor 151
Part II Multi-Sensor Fusion and Integration in Robotics and Vision 167
Enhancement of Image Degraded by Fog Using Cost Function Based on Human Visual Model 170
Dongjun Kim, Changwon Jeon, Bonghyup Kang and Hanseok Ko 170
Pedestrian Route Guidance by Projecting Moving Images 179
Takuji Narumi, Yasushi Hada, Hajime Asama and Kunihiro Tsuji 179
Recognizing Human Activities from Accelerometer and Physiological Sensors 193
Sung-Ihk Yang and Sung-Bae Cho 193
The ``Fast Clustering-Tracking'' Algorithm in the Bayesian Occupancy Filter Framework 206
Kamel Mekhnacha, Yong Mao, David Raulo and Christian Laugier 206
Compliant Physical Interaction Based on External Vision-Force Control and Tactile-Force Combination 225
Mario Prats, Philippe Martinet, Sukhan Lee and Pedro J. Sanz 225
iTASC: A Tool for Multi-Sensor Integration in Robot Manipulation 238
Ruben Smits, Tinne De Laet, Kasper Claes, Herman Bruyninckx and Joris De Schutter 238
Behavioral Programming with Hierarchy and Parallelism in the DARPA Urban Challenge and RoboCup 258
Jesse G. Hurdus and Dennis W. Hong 258
Simultaneous Estimation of Road Region and Ego-Motion with Multiple Road Models 273
Yoshiteru Matsushita and Jun Miura 273
Model-Based Recognition of 3D Objects using Intersecting Lines 291
Hung Q. Truong, Sukhan Lee and Seok-Woo Jang 291
Visual SLAM in Indoor Environments Using Autonomous Detection and Registration of Objects 303
Yong-Ju Lee and Jae-Bok Song 303
People Detection using Double Layered Multiple Laser Range Finders by a Companion Robot 317
Alexander Carballo, Akihisa Ohya and Shin'ichi Yuta 317
Part III Applications to Sensor Networks and Ubiquitous Computing Environments 334
Path-Selection Control of a Power Line Inspection Robot Using Sensor Fusion 336
SunSin Han and JangMyung Lee 336
Intelligent Glasses: A Multimodal Interface for Data Communication to the Visually Impaired 350
Edwige Pissaloux, Ramiro Velázquez and Flavien Maingreaud 350
Fourier Density Approximation for Belief Propagation in Wireless Sensor Networks 359
Chongning Na, Hui Wang, Dragan Obradovic and Uwe D. Hanebeck 359
Passive Localization Methods Exploiting Models of Distributed Natural Phenomena 374
Felix Sawo, Thomas C. Henderson, Christopher Sikorski and Uwe D. Hanebeck 374
Study on Spectral Transmission Characteristics of the Reflected and Self-emitted Radiations through the Atmosphere 392
Jun-Hyuk Choi and Tae-Kuk Kim 392
3D Reflectivity Reconstruction by Means of Spatially Distributed Kalman Filters 406
G.F. Schwarzenberg, U. Mayer, N.V. Ruiter and U.D. Hanebeck 406
T-SLAM: Registering Topological and Geometric Maps for Robot Localization 421
F. Ferreira, I. Amorim, R. Rocha and J. Dias 421
Map Fusion Based on a Multi-Map SLAM Framework 437
François Chanier, Paul Checchin, Christophe Blanc and Laurent Trassoudaine 437
Development of a Semi-Autonomous Vehicle Operable by the Visually-Impaired 453
Dennis W. Hong, Shawn Kimmel, Rett Boehling, Nina Camoriano, Wes Cardwell, Greg Jannaman, Alex Purcell, Dan Ross and Eric Russel 453
Process Diagnosis and Monitoring of Field Bus based Automation Systems using Self-Organizing Maps and Watershed Transformations 466
Christian W. Frey 466