Data fusion using the expected output membership function

Abstract

Fuzzy set methods can be used for data fusion of uncertain sensor data. The expected output membership function (EOMF) method computes a fusability measure based on the sensor uncertainty. The EOMF is the expected fuzzy output based on the input data and the system parameters. The most likely position of the EOMF occurs when the weighted average of the intersections of the fuzzified sensor inputs with the proposed EOMF is maximum. An example from a robotics system which combines the output of ten sensors shows the effectiveness of the EOMF method in comparison with other sensor fusion methods.