Dissertations / Theses on the topic 'Information fusion'
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Xu, Philippe. "Information fusion for scene understanding." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2153/document.
Full textImage understanding is a key issue in modern robotics, computer vison and machine learning. In particular, driving scene understanding is very important in the context of advanced driver assistance systems for intelligent vehicles. In order to recognize the large number of objects that may be found on the road, several sensors and decision algorithms are necessary. To make the most of existing state-of-the-art methods, we address the issue of scene understanding from an information fusion point of view. The combination of many diverse detection modules, which may deal with distinct classes of objects and different data representations, is handled by reasoning in the image space. We consider image understanding at two levels : object detection ans semantic segmentation. The theory of belief functions is used to model and combine the outputs of these detection modules. We emphazise the need of a fusion framework flexible enough to easily include new classes, new sensors and new object detection algorithms. In this thesis, we propose a general method to model the outputs of classical machine learning techniques as belief functions. Next, we apply our framework to the combination of pedestrian detectors using the Caltech Pedestrain Detection Benchmark. The KITTI Vision Benchmark Suite is then used to validate our approach in a semantic segmentation context using multi-modal information
Kaupp, Tobias. "Probabilistic Human-Robot Information Fusion." Thesis, The University of Sydney, 2008. http://hdl.handle.net/2123/2554.
Full textKaupp, Tobias. "Probabilistic Human-Robot Information Fusion." University of Sydney, 2008. http://hdl.handle.net/2123/2554.
Full textThis thesis is concerned with combining the perceptual abilities of mobile robots and human operators to execute tasks cooperatively. It is generally agreed that a synergy of human and robotic skills offers an opportunity to enhance the capabilities of today’s robotic systems, while also increasing their robustness and reliability. Systems which incorporate both human and robotic information sources have the potential to build complex world models, essential for both automated and human decision making. In this work, humans and robots are regarded as equal team members who interact and communicate on a peer-to-peer basis. Human-robot communication is addressed using probabilistic representations common in robotics. While communication can in general be bidirectional, this work focuses primarily on human-to-robot information flow. More specifically, the approach advocated in this thesis is to let robots fuse their sensor observations with observations obtained from human operators. While robotic perception is well-suited for lower level world descriptions such as geometric properties, humans are able to contribute perceptual information on higher abstraction levels. Human input is translated into the machine representation via Human Sensor Models. A common mathematical framework for humans and robots reinforces the notion of true peer-to-peer interaction. Human-robot information fusion is demonstrated in two application domains: (1) scalable information gathering, and (2) cooperative decision making. Scalable information gathering is experimentally demonstrated on a system comprised of a ground vehicle, an unmanned air vehicle, and two human operators in a natural environment. Information from humans and robots was fused in a fully decentralised manner to build a shared environment representation on multiple abstraction levels. Results are presented in the form of information exchange patterns, qualitatively demonstrating the benefits of human-robot information fusion. The second application domain adds decision making to the human-robot task. Rational decisions are made based on the robots’ current beliefs which are generated by fusing human and robotic observations. Since humans are considered a valuable resource in this context, operators are only queried for input when the expected benefit of an observation exceeds the cost of obtaining it. The system can be seen as adjusting its autonomy at run-time based on the uncertainty in the robots’ beliefs. A navigation task is used to demonstrate the adjustable autonomy system experimentally. Results from two experiments are reported: a quantitative evaluation of human-robot team effectiveness, and a user study to compare the system to classical teleoperation. Results show the superiority of the system with respect to performance, operator workload, and usability.
Johansson, Ronnie. "Large-Scale Information Acquisition for Data and Information Fusion." Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3890.
Full textJohansson, Ronnie. "Information Acquisition in Data Fusion Systems." Licentiate thesis, KTH, Numerical Analysis and Computer Science, NADA, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-1673.
Full textBy purposefully utilising sensors, for instance by a datafusion system, the state of some system-relevant environmentmight be adequately assessed to support decision-making. Theever increasing access to sensors o.ers great opportunities,but alsoincurs grave challenges. As a result of managingmultiple sensors one can, e.g., expect to achieve a morecomprehensive, resolved, certain and more frequently updatedassessment of the environment than would be possible otherwise.Challenges include data association, treatment of con.ictinginformation and strategies for sensor coordination.
We use the term information acquisition to denote the skillof a data fusion system to actively acquire information. Theaim of this thesis is to instructively situate that skill in ageneral context, explore and classify related research, andhighlight key issues and possible future work. It is our hopethat this thesis will facilitate communication, understandingand future e.orts for information acquisition.
The previously mentioned trend towards utilisation of largesets of sensors makes us especially interested in large-scaleinformation acquisition, i.e., acquisition using many andpossibly spatially distributed and heterogeneous sensors.
Information acquisition is a general concept that emerges inmany di.erent .elds of research. In this thesis, we surveyliterature from, e.g., agent theory, robotics and sensormanagement. We, furthermore, suggest a taxonomy of theliterature that highlights relevant aspects of informationacquisition.
We describe a function, perception management (akin tosensor management), which realizes information acquisition inthe data fusion process and pertinent properties of itsexternal stimuli, sensing resources, and systemenvironment.
An example of perception management is also presented. Thetask is that of managing a set of mobile sensors that jointlytrack some mobile targets. The game theoretic algorithmsuggested for distributing the targets among the sensors proveto be more robust to sensor failure than a measurement accuracyoptimal reference algorithm.
Keywords:information acquisition, sensor management,resource management, information fusion, data fusion,perception management, game theory, target tracking
Nouranian, Saman. "Information fusion for prostate brachytherapy planning." Thesis, University of British Columbia, 2016. http://hdl.handle.net/2429/58305.
Full textApplied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
Dalmas, Tiphaine. "Information fusion for automated question answering." Thesis, University of Edinburgh, 2007. http://hdl.handle.net/1842/27860.
Full textOreshkin, Boris. "Distributed information fusion in sensor networks." Thesis, McGill University, 2010. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=86916.
Full textFor the distributed average consensus algorithm a memory based acceleration methodology is proposed. The convergence of the proposed methodology is investigated. For the two important settings of this methodology, optimal values of system parameters are determined and improvement with respect to the standard distributed average consensus algorithm is theoretically characterized. The theoretical improvement characterization matches well with the results of numerical experiments revealing significant and well scaling gain. The practical distributed on-line initialization scheme is devised. Numerical experiments reveal the feasibility of the proposed initialization scheme and superior performance of the proposed methodology with respect to several existing acceleration approaches.
For the collaborative signal and information processing methodology a number of theoretical performance guarantees is obtained. The collaborative signal and information processing framework consists in activating only a cluster of wireless sensors to perform target tracking task in the cluster head using particle filter. The optimal cluster is determined at every time instant and cluster head hand-off is performed if necessary. To reduce communication costs only an approximation of the filtering distribution is sent during hand-off resulting in additional approximation errors. The time uniform performance guarantees accounting for the additional errors are obtained in two settings: the subsample approximation and the parametric mixture approximation hand-off.
Cette thèse aborde le problème de la conception et l'analyse d'algorithmes distribuès servant à l'agrégation efficace et la fusion de l'information dans des reséaux capteurs sans fil. Ces algorithmes distribuès servent à addresser un bon nombre d'inconvénients qu'ont les approches de fusion centralisée telles que le point de défaillance unique, les protocoles de routage complexe, la consommation de puissance inégale dans les noeuds de capteurs, l'utilisation inefficace des voies de transmission sans-fil et l'extensibilité limitée. Ces inconvénients de l'approche centralisée ont comme effet de réduire la durée de vie du reséau, la robustesse des noeuds face aux défaillances et la capacité du réseau. Les algorithmes distribuès atténuent ces problèmes en utilisant des simples protocoles de messageries entre les noeuds ainsi que du traitement d'information localisé. Toutefois, pour ces algorithmes, les pertes de précision et/ou de temps nécessaire pour effectuer une tâche peuvent être importantes. C'est pourquoi la conception et l'analyse d'algorithmes distribuès rapide et précis est importante. Dans cette thèse, deux problèmes spécifiques associés à l'analyse et le conception de tels algorithms sont abordés.
En ce qui concerne l'algorithme de consensus sur la moyenne distribuè, une méthode d'accélération fondé sur la mémoire est proposée et sa convergence analysée. Pour les deux paramètres importants de cette méthodologie, les valeurs optimales pour le système sont déterminées et l'amélioration par rapport à l'algorithme de consensus de base est caractérisée de façon théorique. Cette caractérisation correspond aux resultants d'expériences numériques et révèlent des gains importants et extensibles. Le régime distribuè d'initialisation en ligne est conçu. Des expériences numériques révèlevent la faisabilité du régime d'initilisation proposé ainsi qu'un rendement supérieur à plusieurs approches existantes.
Pour la méthodologie de traitement de signaux et d'information collaborative, un certain nombre de garanties théoriques de performance sont obtenues. Ce cadre de travail consiste à activer seulement une grappe de capteurs sans fil pour effectuer les tâches de pistage d'objet au niveau deu chef de groupe en utilisant un filtre particulaire. La grappe optimale est déterminée à chaque intervale de temps et le transfert du titre de chef de groupe est réalisé au besoin. Pour réduire les coûts de communication, seulement une approximation de la distribution du filtre est envoyé pendant le transfert de responsabilités ce qui entraîne des erreurs supplémentaires. Les garanties de performance uniformes dans le temps tenant compte de ces erreurs supplémentaires sont obtenues dans deux contextes.
Peacock, Andrew M. "Information fusion for improved motion estimation." Thesis, University of Edinburgh, 2001. http://hdl.handle.net/1842/428.
Full textCavanaugh, Andrew F. "Bayesian Information Fusion for Precision Indoor Location." Digital WPI, 2011. https://digitalcommons.wpi.edu/etd-theses/157.
Full textBellenger, Amandine. "Semantic Decision Support for Information Fusion Applications." Phd thesis, INSA de Rouen, 2013. http://tel.archives-ouvertes.fr/tel-00845918.
Full textBellenger, Amandine. "Semantic decision support for information fusion applications." Electronic Thesis or Diss., Rouen, INSA, 2013. http://www.theses.fr/2013ISAM0013.
Full textThis thesis is part of the knowledge representation domain and modeling of uncertainty in a context of information fusion. The main idea is to use semantic tools and more specifically ontologies, not only to represent the general domain knowledge and observations, but also to represent the uncertainty that sources may introduce in their own observations. We propose to represent these uncertainties and semantic imprecision trough a metaontology (called DS-Ontology) based on the theory of belief functions. The contribution of this work focuses first on the definition of semantic inclusion and intersection operators for ontologies and on which relies the implementation of the theory of belief functions, and secondly on the development of a tool called FusionLab for merging semantic information within ontologies from the previous theorical development. These works have been applied within a European maritime surveillance project
Lu, Jingting. "E-services based information fusion: a user-level information integration framework." [Gainesville, Fla.]: University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE0000566.
Full textLundquist, Christian. "Automotive Sensor Fusion for Situation Awareness." Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-51226.
Full textThe use of radar and camera for situation awareness is gaining popularity in automotivesafety applications. In this thesis situation awareness consists of accurate estimates of theego vehicle’s motion, the position of the other vehicles and the road geometry. By fusinginformation from different types of sensors, such as radar, camera and inertial sensor, theaccuracy and robustness of those estimates can be increased.
Sensor fusion is the process of using information from several different sensors tocompute an estimate of the state of a dynamic system, that in some sense is better thanit would be if the sensors were used individually. Furthermore, the resulting estimate isin some cases only obtainable through the use of data from different types of sensors. Asystematic approach to handle sensor fusion problems is provided by model based stateestimation theory. The systems discussed in this thesis are primarily dynamic and they aremodeled using state space models. A measurement model is used to describe the relationbetween the state variables and the measurements from the different sensors. Within thestate estimation framework a process model is used to describe how the state variablespropagate in time. These two models are of major importance for the resulting stateestimate and are therefore given much attention in this thesis. One example of a processmodel is the single track vehicle model, which is used to model the ego vehicle’s motion.In this thesis it is shown how the estimate of the road geometry obtained directly from thecamera information can be improved by fusing it with the estimates of the other vehicles’positions on the road and the estimate of the radius of the ego vehicle’s currently drivenpath.
The positions of stationary objects, such as guardrails, lampposts and delineators aremeasured by the radar. These measurements can be used to estimate the border of theroad. Three conceptually different methods to represent and derive the road borders arepresented in this thesis. Occupancy grid mapping discretizes the map surrounding theego vehicle and the probability of occupancy is estimated for each grid cell. The secondmethod applies a constrained quadratic program in order to estimate the road borders,which are represented by two polynomials. The third method associates the radar measurementsto extended stationary objects and tracks them as extended targets.
The approaches presented in this thesis have all been evaluated on real data from bothfreeways and rural roads in Sweden.
IVSS - SEFS
Andersson, Lars. "Multi-robot Information Fusion : Considering spatial uncertainty models." Doctoral thesis, Linköpings universitet, Fluid och mekanisk systemteknik, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15327.
Full textAziz, Tariq. "Impact of information fusion in complex decision making." Thesis, Högskolan i Skövde, Institutionen för kommunikation och information, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-5234.
Full textJilkine, Petr. "Application of information fusion methods to biomedical data." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq23615.pdf.
Full textAndersson, Lars A. A. "Multi-robot information fusion : considering spatial uncertainty models /." Linköping : Department of Management and Engineering, Linköping University, 2008. http://www.bibl.liu.se/liupubl/disp/disp2008/tek1209s.pdf.
Full textElmo, Benedetto. "Metodi innovativi di Information Fusion per la crittografia." Doctoral thesis, Universita degli studi di Salerno, 2014. http://hdl.handle.net/10556/1421.
Full textNel presente lavoro viene mostrato un sistema per realizzare un codice crittografico, che sia utilizzabile per garantire un alto livello di segretezza usando tecniche di Information Fusion (IF). Nel dettaglio, si è deciso di fondere due codici; uno generato tramite un algoritmo di crittografia a chiave pubblica e uno creato mediante l’utilizzo di formule matematiche innovative basate sui frattali. La tecnica di Information Fusion utilizzata è stata presentata in precedenza con un differente utilizzo ed opportune modifiche. Infatti, nel precedente lavoro, veniva creato un codice di accesso identificativo, mentre, in questo, viene generata una chiave crittografica fortemente casuale da utilizzare in ambito di cifratura. La scelta di utilizzare i frattali per generare una sequenza numerica da fondere con codici utilizzati nella cifratura a chiave pubblica è vincolata alla caratteristica randomica di tali strutture. Questo porta all’idea di utilizzare queste caratteristiche per applicazioni crittografiche quali One-Time-Pad. La tecnica di fusione modificata è denominato F&NIF (Fractal & Numerical Information Fusion). [a cura dell'autore]
In this paper we want to show a system to realize a cryptography code. This system must ensure a high level of security using Information Fusion (IF) technique. In particular, we have decided to merge two codes generated by an algorithm of Public-key Cryptography and by fractals relations respectively. This IF method has been presented with a different use. In fact, in the previous paper, was created an identification access key but now we want to generate a very random Cryptography key to be used for encryption. The choice of using fractals to generate numbers to be fused with codes of Public-Key Cryptography, is due to the randomness of these structures. The idea is to use these features for cryptographic applications such as One-Time-Pad. The modified fusion technique is called F&NIF (Fractal & Numerical Information Fusion). [edited by author]
XI n.s.
Sanchez, Gomez Edgar Gerardo. "Fusion Network Performance: An Integrated Packet/Circuit Hybrid Optical Network." Thesis, KTH, Kommunikationssystem, CoS, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-142652.
Full textPoznic, Dominic. "Statistical and Information Analysis of Plasma Diagnostics." Thesis, The University of Sydney, 2019. http://hdl.handle.net/2123/20189.
Full textSmith, Walter E. "Developing a model fusion center to enhance information sharing." Monterey, California. Naval Postgraduate School, 2011. http://hdl.handle.net/10945/10697.
Full textFusion Centers are in a unique position to provide the necessary collaborative space to bring the federal intelligence community together with state, local and tribal initiatives to support homeland security efforts at the grass roots level. Fusion Centers are described as a collaborative effort of two or more agencies to share, or more importantly, fuse information or data from multiple sources. Although, fusion centers have developed at different intervals, the U.S. Homeland Security has provided guiding documents to support fusion center maturation. This research examines these documents and proposed strategies incorporated into four proficient fusion centers in the Northeast Region of the United States to identify best or smart practices, success stories and areas for improvement. There has been a plethora of literature written concerning fusion centers since the tragedies of September 11, 2001. These categories of the literature include: official documents, guidelines and lessons learned for intelligence input, civil liberties safeguards and protections and literature dealing with the intelligence cycle and information sharing. The focus of this thesis is to examine correlation between the implementation of the current United States Homeland Security and U.S. Justice suggested Fusion Center Guidelines, and the employment of these guidelines in the successful development of a model fusion center.
Zhao, Zipeng S. M. Massachusetts Institute of Technology. "Fusion of correlated information in multifidelity aircraft design optimization." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98813.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 117-119).
Models used in engineering design often face trade-offs between computational cost and prediction uncertainty. To ameliorate this problem, correlated models of varying fidelities are used together under different fidelity management strategies to produce accurate predictions while avoiding typically expensive costs. However, existing strategies either account for model correlation and operate under the assumption of a strict fidelity hierarchy, or do not consider model correlation but allow model fidelities to vary across the design space. In this thesis, we present a surrogate-based multifidelity framework that simultaneously accounts for model correlation and accommodates non-hierarchical fidelity specifications. The development of our multifidelity framework can be classified into three stages. The first stage involves the construction of three separate wing weight estimation models that simplify different aspects of the wing sizing problem, thereby creating a scenario where model fidelities are not confined to a rigid hierarchy. The second stage involves the establishment of a formal definition of model correlation, and an extension that allows model correlations to vary across the design space. The third stage involves the incorporation of model correlation in surrogate-based information fusion. To illustrate the application of our framework, we set up a wing weight estimation problem using wing span as design variable. In a later chapter, the problem is extended to two dimensions for increased complexity using body weight and aspect ratio as design variables. Results from both wing weight estimation problems indicate a combination of variance reduction and inflation at different positions in the design space when model correlation is considered, in comparison to the case where model correlation is ignored.
by Zipeng Zhao.
S.M.
Chaw, Poh C. "Multimodal biometrics score level fusion using non-confidence information." Thesis, Nottingham Trent University, 2011. http://irep.ntu.ac.uk/id/eprint/361/.
Full textGunturk, Bahadir K. "Multi-frame information fusion for image and video enhancement." Diss., Available online, Georgia Institute of Technology, 2004:, 2003. http://etd.gatech.edu/theses/available/etd-04072004-180015/unrestricted/gunturk%5Fbahadir%5Fk%5F200312%5Fphd.pdf.
Full textShiel, Michael P. "Multi-level information fusion for environment aware robotic navigation." Thesis, Queensland University of Technology, 2013. https://eprints.qut.edu.au/61955/1/Michael_Shiel_Thesis.pdf.
Full textMustaniemi, J. (Janne). "Image fusion algorithm for a multi-aperture camera." Master's thesis, University of Oulu, 2016. http://urn.fi/URN:NBN:fi:oulu-201609172801.
Full textKannettavat laitteet kuten matkapuhelimet ovat tulleet vuosi vuodelta pienemmiksi ja ohuemmiksi. Kyseinen kehitys on tuonut myös lisää haasteita kamerateollisuudelle. Kuluttajat odottavat kameralta hyvää kuvanlaatua ja monipuolisia kuvausominaisuuksia. Nykyaikaiset valmistustekniikat ja tehokkaat signaaliprosessorit mahdollistavat pienikokoisen sekä hyvälaatuisen moniaukkokameran toteuttamisen. Kamera on varteenotettava vaihtoehto tavanomaiselle Bayer-matriisikameralle. Tässä diplomityössä on tarkoitus suunnitella ja toteuttaa kuvankäsittelyalgoritmi neliaukkokameraan. Kamera koostuu neljästä erillisestä kamerayksiköstä, joilla kullakin on oma optiikkansa sekä värisuodatin. Koska jokaisella kamerayksiköllä on hieman erilainen kuvakulma, aiheutuu kuvien välille parallaksivirhettä. Tämä virhe tulee korjata, ennen kuin yksittäiset kuvat yhdistetään yhdeksi värikuvaksi. Käytännössä tämä tarkoittaa sitä, että jokaisesta kuvasta etsitään toisiaan vastaavat kuvapisteet. Apuna tähän käytetään graph cuts -menetelmää sekä keskinäisinformaatiota. Algoritmi käyttää hyväkseen myös trifokaalista tensoria, joka mahdollistaa useamman kuvan sovittamisen yhtäaikaisesti sen sijaan, että jokainen kuvapari sovitettaisiin erikseen. Vastinpisteiden sovittaminen tuottaa dispariteettikartan (syvyyskartta), minkä perusteella syötekuvia muokataan. Syvyyskarttaa käytetään myös kuvan synteettiseen uudelleen tarkennukseen, minkä tarkoituksena on muuttaa kuvan tarkennusta kuvan ottamisen jälkeen. Algoritmin suorituskykyä arvioitiin tarkastelemalla tuloskuvien visuaalista laatua. Kuvia verrattiin myös referenssikuviin, jotka otettiin samalla testikamerajärjestelmällä. Tulokset osoittavat, että fuusioitujen kuvien laatu on lähellä referenssikuvien laatua. Lähempi tarkastelu paljastaa pieniä värivirheitä, jotka sijaitsevat tyypillisesti kuvassa näkyvien kohteiden reunoilla. Suurin osa virheistä aiheutuu siitä, että kaikki kuvapisteet eivät ole näkyvillä jokaisessa kuvassa. Lupaavia tuloksia saatiin myös kun syvyyskarttaa käytettiin synteettiseen uudelleen tarkennukseen. Koska efektin laatu riippuu voimakkaasti syvyyskartasta, edellä mainittu katvealueongelma aiheuttaa pieniä virheitä tuloskuvaan. Lukuisat jatkokehitysmahdollisuudet, kuten katvealueiden käsittely ja alipikselitarkkuus parantaisivat huomattavasti sekä fuusioitujen että uudelleen tarkennettujen kuvien laatua
Xu, Yunjie. "Data fusion with multiple queries in single information retrieval scheme." Related electronic resource: Current Research at SU : database of SU dissertations, recent titles available full text, 2002. http://wwwlib.umi.com/cr/syr/main.
Full textManyika, James. "An information-theoretic approach to data fusion and sensor management." Thesis, University of Oxford, 1993. http://ora.ox.ac.uk/objects/uuid:6e6dd2a8-1ec0-4d39-8f8b-083289756a70.
Full textNoonan, Colin Anthony. "Measures of effectiveness for data fusion based on information entropy." Thesis, Durham University, 2000. http://etheses.dur.ac.uk/4416/.
Full textQi, Guilin. "Fusion of uncertain information in the framework of possibilistic logic." Thesis, Queen's University Belfast, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.437544.
Full textThiam, Patrick [Verfasser]. "Information fusion mechanisms for multi-modal affect recognition / Patrick Thiam." Ulm : Universität Ulm, 2021. http://d-nb.info/1231916508/34.
Full textRefors, Michael. "Information filter based sensor fusion for estimation of vehicle velocity." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-192157.
Full textI det här examensarbetet undersöks möjligheten att skatta hastigheten av ett tungt fordon baserat på GPS, IMU och den drivande axelns varvtalsgivare. Projektet utfördes hos Scania CV AB. Målet var att finna ett alternativ till hjulhastighetssensorerna som används för hastighetsskattning idag. Tre olika sensorkonfigurationer testades. Den första (SC1) baserades på GPS och en longitudinell accelerometer, den andra (SC2) på GPS, en longitudinell accelerometer and ett gyroskop som mäter lutning. Den tredje (SC3) baserades på GPS, en longitudinell accelerometer och den drivande axelns varvtalsgivare. En experimentiell sensorarkitektur byggdes för insamling av mätdata. Sensorkonfigurationerna evaluerades med simuleringar baserade på mätdata från ett testfordon insamlad på Scanias testbana i Södertälje. Ett infrotmationsfilter (IF) användes för decentraliserad fusion av sensordata. Sensorkonfigurationerna evaluerades mot hjulhastighetssensorerna och ett högkvalitativt GPS/IMU-referenssystem med hjälp av de statistiska mätvärdena Root Mean Square Error (RMSE), Mean Signed Deviation (MSD) och det maximala felet. Resultaten visade att sensorkonfigurationerna baserade endast på GPS och IMU inte var tillräckligt robusta då GPS-signalen förlorades på grund av IMU:ns tendens att divergera. En alternativ källa till GPS för korrigering av IMU:ns fel var därför nödvändig. För detta användes den drivande axelns varvtalsgivare. Denna sensorkonfiguration (SC3) har visat en RMSE-förbättring med 37% och en MSD förbättrad med 60% i jämförelse med hjulhastighetssensorerna i det mest extrema test som geneomförts, då hjulen spinner och GPSsignalen är felaktig under två tillfällen. SC3 är därför föreslagen för vidareutveckling. Detta arbete lägger grunden för fortsatt utveckling av en realtidsimplementation av den föreslagna sensorkonfigurationen, och påvisar möjligheten att använda ett IF för decentraliserad multisensorfusion. Det är även föreslaget att använda IF för integration av flera sensorer för att skapa en förfinad och redundant hastighetsskattning.
Higgins, Jonathan E. "A study of information fusion applied to subband speaker recognition." Thesis, University of Southampton, 2002. https://eprints.soton.ac.uk/257274/.
Full textJohansson, Ola, and Franzén Sofie Madsen. "Sensor Fusion and Information Sharing for Automated Vehicles in Intersections." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293837.
Full textEn av de största utmaningarna för utvecklingen av autonoma fordon är att förutse andra trafikanters beteenden. Autonoma fordon förlitar sig på data från sensorer ombord och fattar beslut i enlighet med informationen från dessa. Detta blir särskilt svårt om sensorerna skyms eller om sensorerna har begränsad räckvidd. I denna rapport föreslår vi en algoritm för delning och optimering av sensordata för autonoma fordon i en vägkorsning för att ge fordonet en så bra uppfattning av omgivningen som möjligt. Metoden som användes för sensorfusion var ett Kalman-filter tilsammans med en spårningsalgoritm där tidsfördröjning av data från externa sensorer togs i beaktning. Parametrarna för Kalman-filtret valdes genom mätning av sensorns varians samt genom trimning. Slutsatsen drogs att varianserna är beroende av objektens rörelsemönster, vilket innebär att konstanta parametrar för Kalman-filtret inte skulle vara tillräckligt för att göra det funktionellt. Spårningen och delningen av sensordata gjorde emellertid en betydande skillnad i andelen upptäckta objekt vilket skulle kunna nyttjas för att öka säkerheten i korsningar.
Kandidatexjobb i elektroteknik 2020, KTH, Stockholm
Ma, Jinhua. "Dependency modeling for information fusion with applications in visual recognition." HKBU Institutional Repository, 2013. https://repository.hkbu.edu.hk/etd_ra/1522.
Full textRen, Jie. "Robust moving object detection by information fusion from multiple cameras." Thesis, University of Liverpool, 2014. http://livrepository.liverpool.ac.uk/19013/.
Full textMohamed, Abdul Cader Akmal Jahan. "Finger biometric system using bispectral invariants and information fusion techniques." Thesis, Queensland University of Technology, 2019. https://eprints.qut.edu.au/134464/1/Akmal%20Jahan_Mohamed%20Abdul%20Cader_Thesis.pdf.
Full textMartinsson, Håkan. "An evaluation of subjective logic for trust modelling in information fusion." Thesis, University of Skövde, School of Humanities and Informatics, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-977.
Full textInformation fusion is to combine information from a variety of sources, or sensors. When the sources are uncertain or contradicting conflict can arise. To deal with such uncertainty and conflict a trust model can be used. The most common ones in information fusion currently is bayesian theory and Dempster-Shafer theory. Bayesian theory does not explicitly handle ignorance, and thus predetermined values has to be hard coded into the system. This is solved in Dempster-Shafer theory by the introduction of ignorance. Even though Dempster-Shafer theory is widely used in information fusion when there is a need for ignorance to be modelled, there has been serious critique presented towards the theory. Thus this work aims at examining another trust models utility in information fusion namely subjective logic. The examination is executed by studying subjective logic using two scenarios from the literature. The results from the scenarios points to subjective logic being a reasonable approach for modelling trust in information fusion.
Barua, Shaibal. "Multi-sensor Information Fusion for Classification of Driver's Physiological Sensor Data." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-18880.
Full textJarrell, Jason A. "Employ sensor fusion techniques for determining aircraft attitude and position information." Morgantown, W. Va. : [West Virginia University Libraries], 2008. https://eidr.wvu.edu/etd/documentdata.eTD?documentid=5894.
Full textTitle from document title page. Document formatted into pages; contains xii, 108, [9] p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 104-108).
Hsueh, Pei-Yun. "Meeting decision detection : multimodal information fusion for multi-party dialogue understanding." Thesis, University of Edinburgh, 2009. http://hdl.handle.net/1842/3971.
Full textAhmad, Muhammad Imran. "Feature extraction and information fusion in face and palmprint multimodal biometrics." Thesis, University of Newcastle upon Tyne, 2013. http://hdl.handle.net/10443/2128.
Full textYeh, T. C. Jim, Jirka Simunek, and Genuchten Martinus Th Van. "Stochastic fusion of information for characterizing and monitoring the vadose zone." Department of Hydrology and Water Resources, University of Arizona (Tucson, AZ), 2002. http://hdl.handle.net/10150/615767.
Full textRajagopalan, Vidya. "Increasing DBM Reliability using Distribution Independent Tests and Information Fusion Techniques." Diss., Virginia Tech, 2009. http://hdl.handle.net/10919/30158.
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Baravdish, Ninos. "Information Fusion of Data-Driven Engine Fault Classification from Multiple Algorithms." Thesis, Linköpings universitet, Fordonssystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176508.
Full textJanez, Fabrice. "Fusion of information sources defined on different non-exhaustive reference sets /." Paris : ONERA, 1998. http://catalogue.bnf.fr/ark:/12148/cb367050865.
Full textLee, Hojun. "ONTOLOGY-BASED DATA FUSION WITHIN A NET-CENTRIC INFORMATION EXCHANGE FRAMEWORK." Diss., The University of Arizona, 2009. http://hdl.handle.net/10150/193779.
Full textEhsanibenafati, Aida. "Visualization Tool for Sensor Data Fusion." Thesis, Blekinge Tekniska Högskola, Sektionen för datavetenskap och kommunikation, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-5677.
Full textWahlström, Johan. "Sensor Fusion for Smartphone-based Vehicle Telematics." Doctoral thesis, KTH, Teknisk informationsvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-218071.
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