Decentralised data fusion with particles

Ong, Lee-Ling, Upcroft, Ben, Ridley, Matthew, Bailey, Tim, Sukkarieh, Salah and Durrant-Whyte, Hugh (2005). Decentralised data fusion with particles. In: Sammut, Claude, Proceedings of the 2005 Australasian Conference on Robotics & Automation. Australasian Conference on Robotics and Automation 2005, Sydney, Australia, (). 5-7 December, 2005.

Author Ong, Lee-Ling
Upcroft, Ben
Ridley, Matthew
Bailey, Tim
Sukkarieh, Salah
Durrant-Whyte, Hugh
Title of paper Decentralised data fusion with particles
Conference name Australasian Conference on Robotics and Automation 2005
Conference location Sydney, Australia
Conference dates 5-7 December, 2005
Proceedings title Proceedings of the 2005 Australasian Conference on Robotics & Automation
Place of Publication Sydney , NSW, Australia
Publisher Australian Robotics and Automation Association
Publication Year 2005
Sub-type Fully published paper
ISBN 0958758379
Editor Sammut, Claude
Total pages 10
Language eng
Abstract/Summary We aim to solve the problem of consistent Decentralised Data Fusion (DDF) with particle filters by a transformation of the sample statistics to a dierent representation that maintains an accurate summary of the particles. Two methodologies are proposed. The first method is a transformation of the particle representation to a Gaussian Mixture Model (GMM). The second algorithm approximates the particles by a Parzen representation. The two algorithms proposed dier in the accuracy of representing the particles as well as the accuracy of fusion methods and the bandwidth requirements. Our simulations results show that a transformation to GMMs requires less components and provides a more accurate summary compared to Parzen representations. However, the decentralised fusion solution for Parzen representations is more accurate than the solution for GMMs.
Subjects 0801 Artificial Intelligence and Image Processing
Keyword Robotics -- Australia -- Congresses
Automation -- Australia -- Congresses
Q-Index Code E1

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Created: Tue, 19 Jan 2010, 09:01:14 EST by Tara Johnson on behalf of Faculty Of Engineering, Architecture & Info Tech