Non-Gaussian state estimation in an outdoor decentralised sensor network

Upcroft, Ben, Douillard, Bertrand, Kaupp, Tobias, Ridley, Matthew, Ong, Lee-Ling, Kumar, Suresh, Bailey, Tim, Ramos, Fabio, Sukkarieh, Salah and Durrant-Whyte, Hugh (2006). Non-Gaussian state estimation in an outdoor decentralised sensor network. In: Proceedings of the 45TH IEEE Conference on Decision and Control. 45th IEEE Conference on Decision and Control, San Diego, Ca, USA, (366-372). 13-15 December 2006. doi:10.1109/CDC.2006.377533

Author Upcroft, Ben
Douillard, Bertrand
Kaupp, Tobias
Ridley, Matthew
Ong, Lee-Ling
Kumar, Suresh
Bailey, Tim
Ramos, Fabio
Sukkarieh, Salah
Durrant-Whyte, Hugh
Title of paper Non-Gaussian state estimation in an outdoor decentralised sensor network
Conference name 45th IEEE Conference on Decision and Control
Conference location San Diego, Ca, USA
Conference dates 13-15 December 2006
Proceedings title Proceedings of the 45TH IEEE Conference on Decision and Control   Check publisher's open access policy
Journal name Proceedings of the 45th Ieee Conference On Decision and Control, Vols 1-14   Check publisher's open access policy
Place of Publication Piscataway, N.J., U.S.
Publisher IEEE
Publication Year 2006
Sub-type Fully published paper
DOI 10.1109/CDC.2006.377533
ISBN 978-1-4244-0170-3
ISSN 0191-2216
Volume 1-14
Start page 366
End page 372
Total pages 7
Language eng
Abstract/Summary This paper presents the development and demonstration of non-Gaussian, decentralised state estimation using an outdoor sensor network consisting of an autonomous air vehicle, a manual ground vehicle, and two human operators. The location and appearance of landmarks were estimated using bearing only observations from monocular cameras. We show that inclusion of visual and identity information aids validation gating for data association when geometric information alone cannot discriminate individual landmarks. The combination of geometric, appearance, and identity information provided a common description (or map) of natural features for each of the nodes in the network. We also show the final map from the live demonstration which includes position estimates and classification labels of the observed features.
Subjects 0913 Mechanical Engineering
091405 Mining Engineering
Keyword sensor fusion
autonomous air vehicle
data association
ground vehicle
identity information
monocular cameras
nonGaussian state estimation
outdoor decentralised sensor network
validation gating
visual information
Q-Index Code E1

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Created: Mon, 11 Jan 2010, 13:36:22 EST by Thelma Whitbourne on behalf of Faculty Of Engineering, Architecture & Info Tech