Multi-Sensor Data Fusion

Transcription

1 H.B. Mitchell Multi-Sensor Data Fusion An Introduction With 81 Figures and 59 Tables Springer

2 Contents Part I Basics 1 Introduction Definition Synergy Multi-Sensor Data Fusion Strategies Fusion Type Sensor Configuration Input/Output Characteristics Formal Framework Multi-Sensor Integration Catastrophic Fusion Organization Further Reading 13 2 Sensors.' Introduction Smart Sensor Logical Sensors Interface File System (IFS) Interface Types Timing Sensor Observation Sensor Uncertainty Ay Sensor Characteristics Sensor-Sensor Properties Sensor Model Further Reading 28

3 X Contents 3 Architecture Introduction Fusion Node Properties Simple Fusion Networks Single Fusion Cell Parallel Network Serial Network Iterative Network Network Topology Centralized Decentralized Hierarchical Software Further Reading 44 Part II Representation 4 Common Representational Format Introduction Spatial-Temporal Transformation Geographical Information System Spatial Covariance Function Common Representational Format Subspace Methods Principal Component Analysis Linear Discriminant Analysis Multiple Training Sets Software Further Reading 67 5 Spatial Alignment Introduction Image Registration Mutual Information Resample/Interpolation Pairwise Transformation T Image Fusion Mosaic Image Software Fürther Reading 82

4 Contents XI 6 Temporal Alignment Introduction Dynamic Time Warping Dynamic Programming Derivative Dynamic Time Warping Continuous Dynamic Time Warping Video Compression Software Further Reading 94 7 Sensor Value Normalization Introduction Sensor Value Normalization Binarization Parametric Normalization Functions Fuzzy Normalization Functions Ranking Conversion to Probabilities Platt Calibration Binning Kernels Isotonic Regression Multi-Class Probability Estimates Software Further Reading 111 Part III Data Fusion 8 Bayesian Inference Introduction Bayesian Analysis Probability Model A Posteriori Distribution Standard Probability Distribution Functions Conjugate Priors Non-Informative Priors Missing Data Model Selection Laplace Approximation Bayesian Model Averaging Computation Markov Chain Monte Carlo 130

5 XII Contents 8.7 Software Further Reading Parameter Estimation Introduction Parameter Estimation Bayesian Curve Fitting Maximum Likelihood Least Squares Linear Gaussian Model Line Fitting Change Point Detection Probabilistic Subspace Generalized Millman Formula Software Further Reading Robust Statistics Introduction Outliers Robust Parameter Estimation Student-i Function "Good-and-Bad" Likelihood Function Gaussian Plus Constant Uncertain Error Bars Classical Robust Estimators Least Median of Squares Robust Subspace Techniques Robust Statistics in Computer Vision Software Further Reading Sequential Bayesian Inference Introduction Recursive Filter Kaiman Filter Parameter Estimation Data Association Model Inaccuracies Multi-Target Tracking Extensions of the Kaiman Filter Robust Kaiman Filter Extended Kaiman Filter 190

6 Contents XIII Unscented Kaiman Filter Switching Kaiman Filter Kriged Kaiman Filter Particle Filter Multi-Sensor Multi-Temporal Data Fusion Measurement Fusion Track-to-Track Fusion Software Further Reading Bayesian Decision Theory Introduction Pattern Recognition Naive Bayes' Classifier Representation Performance Likelihood Modifications Feature Space Model Assumptions Learning Methods Multiple Classifiers Error Estimation Pairwise Classifiers Software Further Reading Ensemble Learning Introduction Bayesian Framework Empirical Framework Diversity Techniques Diversity Measures Ensemble Selection Classifier Types Combination Strategies Simple Combiners Meta-Learners Boosting Recommendations Software Further Reading 240

7 XIV Contents Part IV Sensor Management 14 Sensor Management Introduction Hierarchical Classification Sensor Control Sensor Scheduling Resource Planning Sensor Management Techniques Information-Theoretic Criteria Bayesian Decision-Making Further Reading Postscript 248 Part V Appendices Software Sources 251 Background Material 253 B.l Probability Theory 253 B.2 Linear Algebra 254 B.3 Square Matrices 255 References 257 Index 277