Sensor and Information Fusion for Improved Vision-Based Vehicle Guidance

Authors:
Robin R. Murphy
Affiliations:
-
Venue:
IEEE Intelligent Systems
Year:
1998

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Abstract

This article presents work in vehicle guidance illustrating advanced sensor fusion mechanisms: intra- and inter-sensory fusion, fusion of redundant and complementary sources, and cross modal selective attention. Examples with a jeep-like robot vehicle operating in outdoor environments describe how sensor fusion has been used for the path following, obstacle avoidance, and speed control behaviors, as well as with cartographic functions. The article also discusses how this functionality was organized within SFX, a hybrid deliberative-reactive mobile robot architecture.