MULTISENSOR DATA

FUSION
EPAC FINAL PROJECT
E D UA R D O M I G U E L F E R N Á N D E Z E S C O B A R
 INTRODUCTION
1. What is Multisensor Data Fusion?
2. Main methods in Multisensor Data Fusion
3. Main architectures in Multisensor Data Fusion
4. Applications
5. Conclusions
 1. What is Multisensor Data Fusion?
Multisensor Data Fusion is the process of combining observations from a
number of different sensors to provide a robust and complete description of an
environment or process of interest.
 2. Main Methods
• Multisensor Data Fusion uses Probabilistic Methods and Non- Probabilistic
methods.
•Probabilistic methods are more used that Non-Probabilistic methods.
•However, Probabilistic methods have some limitations (complexity, uncertainty,
precisión) and for this reason It’s neccesary to use Non-Probabilistic methods.
 2.1 Probabilistic Methods
1. Bayes’rule
2. Probabilistic grids
3. The Kalman Filter and The Extended Kalman Filter
4. Sequential Monte Carlo methods
 2.2 Non-Probabilistic Methods
1. Fuzzy Logic
2. Evidential Reasoning
3. Interval Calculus
 3. Main Architectures
1. Centralized, Local Interaction, and Hierarchical
2. Decentralized, Global Interaction, and Heterarchical
3. Decentralized, Local Interaction, and Hierarchical
4. Decentralized, Local Interaction, and Heterarchical
 4. Applications
DYNAMIC SYSTEM CONTROL ENVIRONMENT MODELING: ANSER II
 5. Conclusions
•Multisensor Data Fusion provides a better understanding of an event.

•Multisensor Data Fusion has progressed much in the last few decades.

•Multisensor Data Fusion is being integrated in different áreas:

1. Robotics
2. Militar
3. Medical
END