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Westinghouse has developed and demonstrated a system for the rapid prototyping of Sensor Fusion Tracking (SFT) algorithms. The system provides an object-oriented envelope with three sets of generic software objects to aid in the development and evaluation of SFT algorithms. The first is a generic tracker model that encapsulates the idea of a tracker being a series of SFT algorithms along with the data manipulated by those algorithms and is capable of simultaneously supporting multiple, independent trackers. The second is a set of flexible, easily extensible sensor and target models which allows many types of sensors and targets to be used. Live, recorded and simulated sensors and combinations thereof can be utilized as sources for the trackers. The sensor models also provide an easily extensible interface to the generic tracker model so that all sensors provide input to the SFT algorithms in the same fashion. The third is a highly versatile display and user interface that allows easy access to many of the performance measures for sensors and trackers for easy evaluation and debugging of the SFT algorithms. The system is an object-oriented design programmed in C++. This system with several of the SFT algorithms developed for it has been used with live sensors as a real-time tracking system. This paper outlines the salient features of the sensor fusion architecture and programming environment.© (1994) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only. |
