Multisensor data fusion of points, line segments, and surface segments in 3D space

Joost van Lawick van Pabst; P. F.C. Krekel

doi:10.1117/12.150254

20 August 1993 Multisensor data fusion of points, line segments, and surface segments in 3D space

Joost van Lawick van Pabst, P. F.C. Krekel

Proceedings Volume 2059, Sensor Fusion VI; (1993) https://doi.org/10.1117/12.150254
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Recently, interest for multi sensor data, and consequently data fusion, for world modeling has been growing. Multi sensor data fusion is the process of matching and integrating data from multiple sensor input. The objectives of the geometric fusion process are to enhance accuracy and resolution in the world model and to improve the effectiveness and the robustness of the overall imaging system. A solid description and parametric representation of the extracted 3D features from sensor data, here referred to as geometric primitives, the building blocks of the world model, are fundamental to model sensor uncertainties and to integrate sensor data. Parametric representations of three types of geometric primitives (points, line segments, and surface segments in 3D space) are presented. Furthermore, given these parametric representations, the application of the (Extended) Kalman Filter for data association and fusion is described. Special attention is paid to the fusion of geometric primitives of different modality. The resulting integrated geometric primitives are stored in a 3D world model that can be used for tele-presence and autonomous system control purposes.

Citation Download Citation

Joost van Lawick van Pabst and P. F.C. Krekel "Multisensor data fusion of points, line segments, and surface segments in 3D space", Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); https://doi.org/10.1117/12.150254

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