An Algorithm for Multi-Sensor Data Fusion Target Tracking

被引：0

作者：

Liu Guo-cheng ^{[1
]}

Wang Yong-ji ^{[1
]}

机构：

[1] Wuhan Univ, Sch Power & Mech Engn, Wuhan 430072, Peoples R China

来源：

2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年

关键词：

Mobile Robot; Data Fusion; Particle Filter; Target Tracking;

D O I：

10.1109/CCDC.2008.4597942

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The principle of target tracking and data fusion techniques are discussed To resolve enormous uncertainty that exists in sensors of mobile robots, the Cross-Sensor and Cross-Modality(CSCM) data fusion algorithm is presented. The algorithm is based on particle filter techniques, fuses the information coming from multiple sensors and merges different state space models. So it can be used to eliminate system and measurement noise and estimate value of position and heading of mobile robot On simulation experiments, different cases, such as single sensor and multi-sensor data fusion, are compared, the results demonstrate the effectiveness of this algorithm and exhibits good tracking performance.

引用

页码：3311 / 3316

页数：6

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