MKS: A multisensor kernel system

摘要

The MKS is presented as a means for multisensor integration and data acquisition. The system has been developed in the context of a robot workstation equipped with various types of sensors utilizing three-dimensional laser range finder data and two-dimensional camera data. Specific goals that have been achieved include: developing a suitable low-level representation on raw data and/or features extracted from the raw data of the various sensors; providing a method for efficient reconfiguration of the sensor system in terms of `logical' sensors which map into physical sensors and computation; and providing a basis for high-level object modeling techniques.