Fusion of multi-sensor data: a geometric approach

Abstract

A geometric approach is presented to solve data fusion problems. The approach uses bounded-error data parameter estimation rather than the usual statistical approach. Updating the location (orientation and position) of a mobile robot in a known polygonal environment is shown as example. The obtained recursive algorithms are similar to those of the Kalman filter with the advantage that only measures improving the estimates are considered.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>