Bayes Networks for Sonar Sensor Fusion

  title={Bayes Networks for Sonar Sensor Fusion},
  author={Ami Berler and Solomon Eyal Shimony},
Wide-angle sonar mapping of the environ­ ment by mobile robot is nontrivial due to sev­ eral sources of uncertainty: dropouts due to "specular" reflections, obstacle location un­ certainty due to the wide beam, and distance measurement error. Earlier papers address the latter problems, but dropouts remain a problem in many environments. We present an approach that lifts the overoptimistic in­ dependence assumption used in earlier work, and use Bayes nets to represent the depen­ dencies between… CONTINUE READING
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