Multisensor robust localization in various environment with correlation checking test

Autor: Shinji Doki, Yuki Funabora, Nozomu Ohashi, Kae Doki
Jazyk: angličtina
Rok vydání: 2021
Předmět:
0209 industrial biotechnology
Control and Optimization
lcsh:T55.4-60.8
Computer science
lcsh:Machine design and drawing
lcsh:Mechanical engineering and machinery
Bayesian probability
lcsh:Automation
lcsh:Control engineering systems. Automatic machinery (General)
Computational intelligence
02 engineering and technology
lcsh:Technology
Correlation
lcsh:TJ212-225
020901 industrial engineering & automation
Artificial Intelligence
Robustness (computer science)
Position (vector)
Particle filter
lcsh:Technology (General)
0202 electrical engineering
electronic engineering
information engineering
lcsh:Industrial engineering. Management engineering
lcsh:TJ1-1570
Outlier rejection
lcsh:T59.5
Instrumentation
Sensor fusion
lcsh:T58.5-58.64
business.industry
lcsh:T
lcsh:Information technology
Mechanical Engineering
020208 electrical & electronic engineering
Probabilistic logic
Pattern recognition
Mechatronics
lcsh:TJ227-240
Modeling and Simulation
Localization
lcsh:T1-995
Artificial intelligence
business
Zdroj: ROBOMECH Journal, Vol 8, Iss 1, Pp 1-11 (2021)
ISSN: 2197-4225
Popis: Probabilistic localization based on Bayesian theory has been researched as a sensor fusion method to improve the robustness of localization. Pieces of position information, generated by sensors’ observation models with consideration for noises, are fused according to Bayesian theory. However, having large noises not considered in their observation models, the sensors output erroneous position information; thus, the fusion result has a significant error, even when the other sensors output correct ones. In this research, we have proposed a sensor fusion system with a relative correlation checking test to realize robust localization. Pieces of erroneous position information, biased against others and having a negative correlation with others, are detected and excluded in our proposed system by checking their correlation between all of them. The purpose of this paper is to evaluate the robustness of our fusion system by conducting recursive localization experiments in various environments.
Databáze: OpenAIRE
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