Fusion of ultrasonic and infrared signatures for personnel detection by a mobile robot

Matthew S. Carroll; Min Meng; William K. Cadwallender

doi:10.1117/12.57958

30 April 1992 Fusion of ultrasonic and infrared signatures for personnel detection by a mobile robot

Matthew S. Carroll, Min Meng, William K. Cadwallender

Proceedings Volume 1611, Sensor Fusion IV: Control Paradigms and Data Structures; (1992) https://doi.org/10.1117/12.57958
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Passive Infrared sensors used for intrusion detection, especially those used on mobile robots, are vulnerable to false alarms caused by clutter objects such as radiators, steam pipes, windows, etc., as well as deliberately caused false alarms caused by decoy objects. To overcome these sources of false alarms, we are now combining thermal and ultrasonic signals, the results being a more robust system for detecting personnel. Our paper will discuss the fusion strategies used for combining sensor information. Our first strategy uses a statistical classifier using features such as the sonar cross-section, the received thermal energy, and ultrasonic range. Our second strategy uses s 3-layered neural classifier trained by backpropagation. The probability of correct classification and the false alarm rate for both strategies will be presented in the paper.

Citation Download Citation

Matthew S. Carroll, Min Meng, and William K. Cadwallender "Fusion of ultrasonic and infrared signatures for personnel detection by a mobile robot", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); https://doi.org/10.1117/12.57958

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