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Sensor and Data Fusion
Sensor and Data Fusion
Edited by
Dr. ir. Nada Milisavljević
I-Tech
IV
Published by In-Teh
In-Teh is Croatian branch of I-Tech Education and Publishing KG, Vienna, Austria.
Abstracting and non-profit use of the material is permitted with credit to the source. Statements and
opinions expressed in the chapters are these of the individual contributors and not necessarily those of
the editors or publisher. No responsibility is accepted for the accuracy of information contained in the
published articles. Publisher assumes no responsibility liability for any damage or injury to persons or
property arising out of the use of any materials, instructions, methods or ideas contained inside. After
this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in
any publication of which they are an author or editor, and the make other personal use of the work.
© 2009 In-teh
www.in-teh.org
Additional copies can be obtained from:
publication@ars-journal.com
First published February 2009
Printed in Croatia
p. cm.
ISBN 978-3-902613-52-3
1. Sensor and Data Fusion, Dr. ir. Nada Milisavljević
Preface
Data fusion is a research area that is growing rapidly due to the fact that it provides
means for combining pieces of information coming from different sources/sensors, resulting
in ameliorated overall system performance (improved decision making, increased detection
capabilities, diminished number of false alarms, improved reliability in various situations at
hand) with respect to separate sensors/sources. Different data fusion methods have been
developed in order to optimize the overall system output in a variety of applications for
which data fusion might be useful: security (humanitarian, military), medical diagnosis,
environmental monitoring, remote sensing, robotics Generally speaking, there is no fusion
approach that works better than the others, but depending mainly on the types (quality,
quantity) of data, some approaches might be better suited to a particular problem than the
others. Actually, the choice of the combination method which is best-suited for a particular
application is related to types of sources/sensors, types of data (numerical, symbolic,
knowledge-based; maps, legends, historical information…), amounts of data available etc.
As a consequence, various data fusion techniques have been investigated for years, such as
probability theory, fuzzy logic, possibility theory, evidence theory (Dempster-Shafer, belief
functions). In addition, depending mainly on the types of data processing involved and on
the problem itself, several levels of data fusion exist in general (e.g., pixel level, feature level,
decision level, or object assessment, situation assessment, impact assessment). In different
data fusion books and articles, we can also find various data fusion architectures, having
three main classes: centralized, decentralized and hybrid. As a result of this variety of
techniques, architectures, levels, etc., data fusion is able to bring solutions in various areas of
diverse disciplines.
The goal of this book is to provide highlights of the current research in the field of data
fusion. The book consists of twenty-five research papers, addressing various problems in
areas such as: target tracking (including adaptive sensor management, data association and
road obstacle tracking), obstacle detection for the railway traffic, real-time traffic state
estimation, air traffic control, automotive applications (e.g., car safety and driver assistance),
robotic systems, smoke detectors and home security, industrial instrumentation and process
monitoring, remote sensing (vegetation indices, update of scarce high resolution images
with time series of coarser images, land cover classification), medical imaging, anomaly
detection and behavior prediction, environmental monitoring including forest fires and
electromagnetic pollution, change detection, (distributed, wireless) sensor networks, etc. The
list of possible applications is, actually, large, since most of the methodologies presented in
the book can be adapted easily to a variety of problems and situations. The techniques
involved cover a wide range of classical or novel methods, from different Bayesian-based
approaches via Dempster-Shafer evidence theory and fuzzy logic to artificial neural
networks and multi-agent based fusion methods. Depending mainly on the technique,
VI
different strategies for including expert knowledge and other collateral sources of
information in the fusion process are also investigated.
Altogether, the book aims to provide a valuable source of up-to-date data fusion
methods, systems, applications and tools. As such, it may be useful to researchers,
engineers, computer scientists, as well as to undergraduate and graduate students who are
interested in the latest developments in the data fusion field.
The editor is thankful to the contributors for their precious work towards the realization
of this book as well as to Dr. Vedran Kordić for his valuable help.
January 2009
Editor
Dr. ir. Nada Milisavljević
Department of Communication, Information, Systems and Sensors
Royal Military Academy,
Brussels, Belgium
Contents
Preface V
1. Advanced Sensor and Dynamics Models with an Application
to Sensor Management
001
Wolfgang Koch
2. Target Data Association Using a Fuzzy-Logic Based Approach 035
Stephen Stubberud and Kathleen Kramer
3. Data Fusion Performance Evaluation for Dissimilar Sensors:
Application to Road Obstacle Tracking
057
Blanc Christophe, Checchin Paul, Gidel Samuel and Trassoudaine Laurent
4. IR Barrier Data Integration for Obstacle Detection 071
J. Jesús García, Jesús Ureña, Manuel Mazo and Álvaro Hernández
5. A Model of Federated Evidence Fusion
for Real-Time Traffic State Estimation
089
Qing-Jie Kong and Yuncai Liu
6. Multi Sensor Data Fusion Architectures
for Air Traffic Control Applications
103
Baud Olivier, Gomord Pierre, Honoré Nicolas, Ostorero Loïc,
Taupin Olivier and Tubery Philippe
7. Sensor Data Fusion in Automotive Applications 123
Panagiotis Lytrivis, George Thomaidis and Angelos Amditis
8. Multisensor Data Fusion Strategies
for Advanced Driver Assistance Systems
141
Mahdi Rezaei Ghahroudi and Reza Sabzevari
9. Trajectory Generation and Object Tracking of Mobile Robot
Using Multiple Image Fusion
167
TaeSeok Jin and Hideki Hashimoto
VIII
10. Multisensory Data Fusion for Ubiquitous Robotics Services 177
Ren C. Luo and Ogst Chen
11. Design of an Intelligent Housing System
Using Sensor Data Fusion Approaches
191
Arezou_Moussavi Khalkhali, Behzad_ Moshiri, Hamid Reza_ Momeni
12. Model-based Data Fusion in Industrial Process Instrumentation 201
Gerald Steiner
13. Multi-Sensor Data Fusion in Presence
of Uncertainty and Inconsistency in Data
225
Manish Kumar and Devendra P. Garg
14. Updating Scarce High Resolution Images with Time Series
of Coarser Images: a Bayesian Data Fusion Solution
245
Dominique Fasbender, Valérie Obsomer, Patrick Bogaert
and Pierre Defourny
15. Multi-Sensor & Temporal Data Fusion
for Cloud-Free Vegetation Index Composites
263
Bijay Shrestha, Charles O’Hara and Preeti Mali
16. Three Strategies for Fusion of Land Cover Classification Results
of Polarimetric SAR Data
277
Nada Milisavljević, Isabelle Bloch, Vito Alberga and Giuseppe Satalino
17. Multilevel Information Fusion:
A Mixed Fuzzy Logic/Geometrical Approach
with Applications in Brain Image Processing
299
Julien Montagner and Vincent Barra
18. Anomaly Detection & Behavior Prediction: Higher-Level Fusion
Based on Computational Neuroscientific Principles
323
Bradley J. Rhodes, Neil A. Bomberger, Majid Zandipour, Lauren H. Stolzar,
Denis Garagic, James R. Dankert and Michael Seibert
19. A Biologically Based Framework for Distributed Sensory Fusion
and Data Processing
337
Ferro M. and Pioggia G.
20. Agent Based Sensor and Data Fusion in Forest Fire Observer 365
Ljiljana Šerić, Darko Stipaničev and Maja Štula
IX
21. A Sensor Data Fusion Procedure for Environmental Monitoring
Applications by a Configurable Network of Smart Web-Sensors
379
Claudio De Capua and Rosario Morello
22. Monitoring Changes in Operational Scenarios
via Data Fusion in Sensor Networks
401
Papantoni-Kazakos, Dr. Titsa and Burrell, Dr. Anthony
23. Elements of Sequential Detection with Applications to Sensor Networks 417
Stefano Marano and Vincenzo Matta
24. Parameter Estimation Over Noisy Communication Channels
in Distributed Sensor Networks
437
Thakshila Wimalajeewa, Sudharman K. Jayaweera and Carlos Mosquera
25. Monte Carlo Methods for Node Self-Localization
and Nonlinear Target Tracking in Wireless Sensor Networks
471
Joaquín Míguez, Luis Arnaiz and Antonio Artés-Rodríguez
[...]... no means trivial B Aspects of Sensor and Data Fusion Among the primary technical prerequisites for sensor data and information fusion are communication links with a sufficient bandwidth, small latency, and robustness against failure or jamming Moreover, the transformation of the sensor data into a common coordinate system requires a precise space-time registration of the sensors, including their mutual... Sensor and Data Fusion given all sensor data and a priori information available In those applications data acquisition and tracking are completely decoupled For phased-array radar, however, the current signal-to-noise ratio of the object (i.e the detection probability) strongly depends on the correct positioning of the pencil-beam, which is now taken into the responsibility of the tracking system Sensor. .. planning data, tactics) and human observer reports (HUMINT: Human Intelligence) is also important information in the fusion process [4] The exploitation of context information of any kind can significantly improve the fusion system performance Fig 1 Sensor data and information fusion for situation pictures: overview of characteristic aspects and their mutual interrelation Advanced Sensor and Dynamics... wide range and may be chosen individually for each track Of special interest are military air situations where both agile objects and objects significantly differing in their radar cross section must be taken into account Unless properly handled, such situations can be highly allocation time- and energyconsuming In this context, advanced sensor and dynamics models for combined tracking and sensor management...1 Advanced Sensor and Dynamics Models with an Application to Sensor Management Wolfgang Koch German Defence Research Establishment (FGAN e.V.) Germany 1 Introduction The methods provided by sensor and data fusion [14] are important tools for fusing large sets of mutually complementary data end efficiently exploiting the sensor systems available A challenging exploitation... analyzing the ‘time series’ created by the sensor data • Problem: The sensor information is inaccurate, incomplete, and possibly even ambiguous Moreover, the objects’ temporal evolution is usually not well-known • Approach: Interpret sensor measurements and object state vectors as random variables Describe by probability density functions (pdfs) what is known about these random variables • Solution: Derive... revisit time and the corresponding radar beam position, rangeand Doppler-gates, or the type of the radar wave forms to be transmitted Track search requests require the setting of appropriate revisit intervals, search sectors and patterns, and other radar parameters In the dwell scheduling unit these preparations are transformed into antenna commands, by which the radar sensor is allocated and radar energy... road map extraction In the case of multifunctional sensors, feedback exists from the tracking system to the process of sensor data acquisition (sensor management) D A Characteristic Application: Sensor Management Modern multifunctional agile-beam radar based on phased-array technology is an excellent example for a sensor system that requires sophisticated sensor management algorithms This is particularly... tracking/fusion system along with its relation to the underlying sensors After passing a detection process, essentially working as a means of data rate reduction, the signal processing provides 4 Sensor and Data Fusion estimates of parameters characterizing the waveforms received at the sensors’ front ends (e.g radar antennas) From these estimates sensor reports are created, i.e measured quantities possibly... error covariance matrix The Bayesian formalism and the sensor model (likelihood function) obviously define how a negative sensor output, i.e a missing detection is to be processed In the case of well-separated objects in the presence of false returns and imperfect detection, the nk sensor data Zk are also not longer uniquely interpretable Let ik = 0 denote the data interpretation hypothesis that the object .
TaeSeok Jin and Hideki Hashimoto
VIII
10 . Multisensory Data Fusion for Ubiquitous Robotics Services 17 7
Ren C. Luo and Ogst Chen
11 . Design. of Sensor and Data Fusion
Among the primary technical prerequisites for sensor data and information fusion are
communication links with a sufficient bandwidth,
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