Proceedings ArticleDOI
Decentralized algorithms and architecture for tracking and identification
B.S.Y. Rao,J.M. Manyika,Hugh Durrant-Whyte +2 more
- pp 1095-1100
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TLDR
The authors describe RCD (region of constant depth) tracking and for this develop a monopulse sonar arrangement with which they implement real-time autonomous tracking by a single sensor node.Abstract:
Present two algorithms for tracking and identification in decentralized multi-sensor systems. Decentralized architectures have many benefits in terms of modularity, speed and robustness. The state estimation (tracking) algorithm is a decentralized Kalman filter (DKF) based on the extended Kalman filter. Identification is achieved by the decentralized Bayesian identification (DBI) algorithm, which identifies targets being tracked. For each of the algorithms The authors discuss optimality and the effect of reducing connectivity. The structure of the algorithms leads to the development of an architecture for a modular sensing node based on communication considerations. The authors present example implementations of both algorithms on actual transputer-based sensing nodes. They describe RCD (region of constant depth) tracking and for this develop a monopulse sonar arrangement with which they implement real-time autonomous tracking by a single sensor node. The second example implementation describes identification of targets being tracked by the DKF using the DBI on actual CCD camera-based nodes. >read more
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References
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Mobile robot localization by tracking geometric beacons
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Physically Based Simulation Model for Acoustic Sensor Robot Navigation
Roman Kuc,Mel Siegel +1 more
TL;DR: A computer model is described that combines concepts from the fields of acoustics, linear system theory, and digital signal processing to simulate an acoustic sensor navigation system using time-of-flight ranging to simulate sonar maps produced by transducers having different resonant frequencies and transmitted pulse waveforms.
Proceedings ArticleDOI
Toward a fully decentralized architecture for multi-sensor data fusion
TL;DR: A fully decentralized architecture is presented for data fusion problems, which takes the form of a network of sensor nodes, each with its own processing facility, which together do not require any central processor or any central communication facility.
A fully decentralized multi-sensor system for tracking and surveillance
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