• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1017-1026
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• 2015

Infrared (IR) target detection is one of the key technologies in Automatic Target Detection/Recognition (ATD/R) for military applications. However, IR sensors have limitations due to the weather sensitivity and atmospheric effects. In recent years, sensor information fusion study is an active research topic to overcome these limitations. SAR sensor is adopted to sensor fusion, because SAR is robust to various weather conditions. In this paper, a Boolean Map Visual Theory-Morphology (BMVT-M) method is proposed to detect targets in SAR and IR images. Moreover, we suggest the IR and SAR image registration and decision level fusion algorithm. The experimental results using OKTAL-SE synthetic images validate the feasibility of sensor fusion-based target detection.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1999-2005
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• 2005

Collaboration in wireless sensor networks must be fault-tolerant due to the harsh environmental conditions in which such networks can be deployed. This paper focuses on finding signal processing algorithms for collaborative target detection based on the generalized approach to signal processing in the presence of noise that are efficient in terms of communication cost, precision, accuracy, and number of faulty sensors tolerable in the wireless sensor network. Two algorithms, namely, value fusion and decision fusion constructed according to the generalized approach to signal processing in the presence of noise, are identified first. When comparing their performance and communication overhead, decision fusion is found to become superior to value fusion as the ratio of faulty sensors to fault free sensors increases. The use of the generalized approach to signal processing in the presence of noise under designing value and decision fusion algorithms in wireless sensor networks allows us to obtain the same performance, but at low values of signal energy, as under the employment of universally adopted signal processing algorithms widely used in practice.

• 스마트미디어저널
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• 제12권9호
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• pp.134-141
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• 2023

본 논문에서는 3차원 객체의 인식률을 높이고 객체 검출 품질이 보장되며, 환경에 강건한 3차원 공간 스캔용 ToF-Stereo 융합 센서 시스템을 제안한다. ToF-Stereo 센서 융합 시스템은 ToF 센서와 Stereo RGB 센서의 센싱 값을 융합하는 방식을 사용하며, 하나의 센서가 동작하지 않더라도 다른 하나의 센서를 이용하여 계속해서 객체를 검출해 나갈 수 있다. ToF 센서와 Stereo RGB 센서의 센싱 거리, 센싱 해상도, 빛 반사도 및 조도 등에 따른 품질이 달라지므로, 신뢰도 추정에 기반하여 센서의 기능을 조절할 수 있는 모듈을 두었다. ToF-Stereo 센서 융합 시스템은 ToF 센서와 Stereo RGB 센서의 센싱 값을 결합하고, 신뢰도를 추정한 후 신뢰도에 따라 센서의 기능을 조절하여 두 센싱 값을 융합하므로 3차원 공간 스캔의 품질을 향상할 수 있다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.97-98
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• 2006

Fusion of decisions from multiple distributed sensor nodes is studied in this work. Based on the canonical parallel fusion model, we derive the optimal likelihood ratio based fusion rule with the assumptions of the generalized Gaussian noise model and the arbitrary fading channel. This optimal fusion rule, however, requires the complete knowledge of the channels and the detection performance of local sensor nodes. To mitigate these requirements and to provide near optimum performance, we derive suboptimum fusion rules by using high and low signal-to-noise ratio (SNR) approximations to the optimal fusion rule. Performance evaluation is conducted through simulations.

• 전기학회논문지
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• 제67권7호
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• 한국전자통신학회논문지
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• 제6권4호
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• pp.581-587
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• 2011

무선센서네트워크는 높은 수준의 상황정보를 추론할 수 있기 위해 이질적인 다중센서로 이루어질 필요가 있다. 다중센서에 의해 수집된 데이터를 상황 정보추론에 활용할 때 다중센서 데이터 융합이 필요하다. 본 논문에서는 Dempster-Shafer의 증거이론에 입각하여 무선센서네트워크에서의 데이터 융합할 때 센서별 가중치를 부여하는 방안을 제안하였다. 센서별 이벤트 발생빈도수를 기준으로 하였는데, 센서별 이벤트 발생 빈도수는 해당 센서가 입수한 상황데이터의 가중치를 계산하는데 반영해야 할 요소이다. 센서별 이벤트 발생빈도에 기초하여 가중치를 계산하였으며 이 가중치를 부여하여 다중센서 데이터 융합하였을 때 신뢰도가 더욱 뚜렷한 격차를 보이게 함으로써 상황정보를 추론함에 있어서 용이할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.91.3-91
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• 2001

A sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space with no obstacle within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster Shafer´s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated sonar data enables ...

• 한국위성정보통신학회논문지
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• 제12권3호
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• pp.15-21
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• 2017

2012년 5월 다목적실용위성 KOMPSAT-3 발사 성공 이후, 2013년 8월 KOMPSAT-5, 2015년 3월 KOMPSAT-3A의 발사 성공으로 국내는 광학, 레이더, 열적외선 센서를 통합 운영할 수 있게 되었으며, 각 센서들의 특성을 융합 활용할 수 있는 기반을 마련하였다. 단일 센서가 가지고 있는 활용의 적용 범위나 산출물 정확도에 한계점을 극복하고자 다중 센서들의 장점을 취하고 단점은 상호 보완하는 다종센서간 영상융합기술이 대두하게 되었다. 본 논문에서는 다목적실용위성 군을 활용한 영상 융합 및 고부가 산출물 생성을 위한 소프트웨어(InFusion) 개발에 대하여 소개하고자 한다. 먼저 각 센서들의 특징 설명과 융합 소프트웨어 개발의 필요성에 대하여 기술하고, 개발 전과정에 대하여 상세히 설명하고자 한다. 국내외 다목적실용위성 군의 자료 활용성을 증대시키고 고부가 제품생성을 통한 국내 소프트웨어의 우수성을 알리는 계기가 되고자 한다.

• Journal of Astronomy and Space Sciences
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• 제20권4호
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• pp.359-364
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• 2003

In this paper, we present multi-sensor data fusion for telematics application. Successful telematics can be realized through the integration of navigation and spatial information. The well-determined acquisition of vehicle's position plays a vital role in application service. The development of GPS is used to provide the navigation data, but the performance is limited in areas where poor satellite visibility environment exists. Hence, multi-sensor fusion including IMU (Inertial Measurement Unit), GPS(Global Positioning System), and DMI (Distance Measurement Indicator) is required to provide the vehicle's position to service provider and driver behind the wheel. The multi-sensor fusion is implemented via algorithm based on Kalman filtering technique. Navigation accuracy can be enhanced using this filtering approach. For the verification of fusion approach, land vehicle test was performed and the results were discussed. Results showed that the horizontal position errors were suppressed around 1 meter level accuracy under simulated non-GPS availability environment. Under normal GPS environment, the horizontal position errors were under 40㎝ in curve trajectory and 27㎝ in linear trajectory, which are definitely depending on vehicular dynamics.

• 한국항해항만학회지
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• 제27권3호
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• pp.273-282
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• 2003

This paper proposes a sensor-fusion technique where rho data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent only on the current data sets. As the results, more of sensors are required to measure a certain physical promoter or to improve the accuracy of the measurement. However, in this approach, intend of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples md the effectiveness is proved through the simulation. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in the indoor environment and the performance was demonstrated by the real experiments.