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Concept
Sensor fusion
Résumé
Sensor fusion is the process of combining sensor data or data derived from disparate sources such that the resulting information has less uncertainty than would be possible when these sources were used individually. For instance, one could potentially obtain a more accurate location estimate of an indoor object by combining multiple data sources such as video cameras and WiFi localization signals. The term uncertainty reduction in this case can mean more accurate, more complete, or more dependable, or refer to the result of an emerging view, such as stereoscopic vision (calculation of depth information by combining two-dimensional images from two cameras at slightly different viewpoints).
The data sources for a fusion process are not specified to originate from identical sensors. One can distinguish direct fusion, indirect fusion and fusion of the outputs of the former two. Direct fusion is the fusion of sensor data from a set of heterogeneous or homogeneous sensors, soft sensors, and history values of sensor data, while indirect fusion uses information sources like a priori knowledge about the environment and human input.
Sensor fusion is also known as (multi-sensor) data fusion and is a subset of information fusion.
Accelerometers
Electronic Support Measures (ESM)
Flash LIDAR
Global Positioning System (GPS)
Infrared / thermal imaging camera
Magnetic sensors
MEMS
Phased array
Radar
Radiotelescopes, such as the proposed Square Kilometre Array, the largest sensor ever to be built
Scanning LIDAR
Seismic sensors
Sonar and other acoustic
Sonobuoys
TV cameras
→Additional List of sensors
Sensor fusion is a term that covers a number of methods and algorithms, including:
Kalman filter
Bayesian networks
Dempster–Shafer
Convolutional neural network
Gaussian processes
Two example sensor fusion calculations are illustrated below.
Let and denote two sensor measurements with noise variances and
respectively. One way of obtaining a combined measurement is to apply inverse-variance weighting, which is also employed within the Fraser-Potter fixed-interval smoother, namely
where is the variance of the combined estimate.
Source officielle
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