Distributed multisensor fusion

摘要

There have been several algorithms proposed for multisensor tracking of multiple objects using a centralized processing architecture, but because of considerations such as reliability, survivability, and communication bandwidth, distributed processing architectures are often the only alternative. The distributed fusion problem is more complex than the centralized fusion problem due to correlation across track estimates for the same object. We propose an approach for distributed sensor fusion that bypasses this correlation problem and allows previously developed centralized fusion methods to be employed after a measurement reconstruction procedure. Limitations and assumptions are discussed, and simulation results are presented to demonstrate the performances obtained with this approach. 1 Introduction Multisensor fusion algorithms for tracking multiple objects have applications in air traffic control, tactical air defense, robotics, computer vision, and other systems where measurements...