| Multisensor
Fusion and Integration
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Introduction
Sensor is a device that detects or senses
the value or changes of value of the variable being measured. The term sensor
some times is used instead of the term detector, primary element or transducer.
The fusion of information from sensors with different physical characteristics,
such as light, sound, etc enhances the understanding of our surroundings and provide
the basis for planning, decision making, and control of autonomous and intelligent
machines.
Sensors Evolution
A sensor is a device that responds to some external stimuli and then provides
some useful output. With the concept of input and output, one can begin to understand
how sensors play a critical role in both closed and open loops.
One problem is that sensors have not been specified. In other words they tend
to respond variety of stimuli applied on it without being able to differentiate
one from another. Neverthless, sensors and sensor technology are necessary ingredients
in any control type application. Without the feedback from the environment that
sensors provide, the system has no data or reference points, and thus no way of
understanding what is right or wrong g with its various elements.
Sensors are so important in automated manufacturing particularly in robotics.
Automated manufacturing is essentially the procedure of remo0ving human element
as possible from the manufacturing process. Sensors in the condition measurement
category sense various types of inputs, condition, or properties to help monitor
and predict the performance of a machine or system. Multisensor
Fusion And Integration Multisensor integration
is the synergistic use of the information provided by multiple sensory devices
to assist in the accomplishment of a task by a system.
Multisensor fusion refers to any stage in the integration process where there
is an actual combination of different sources of sensory information into one
representational format.
Multisensor
Integration
The diagram represents multisensor
integration as being a composite of basic functions. A group of n sensors provide
input to the integration process. In order for the data from each sensor to be
used for integration, it must first be effectively modelled. A sensor model represents
the uncertainty and error in the data from each sensor and provides a measure
of its quality that can be 7used by the subsequent integration functions.
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