Sensor fusion

What is it?
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•synthesize holistic deliverables
•architect robust interfaces
•facilitate web-enabled interfaces

Combining data from different

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 Sensors
• Radar
• Sonar (under water) and Ultrasonic (above water)
• Infra-red / thermal imaging camera
• Cameras
• Tilt sensors
• Gyro
• GNSS(Global NavigationSatelliteSystem)
• Laserscanners
• Odometri encoders
• Kinect(IR)

Bjoern Griesbach [email protected]

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 Sensors
Can we use the result or data from one sensor alone?

That depends on the sensor.

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 Sensor fusion, why?
• Each sensor has its strengths and weaknesses
• One sensor is never sufficient for reliable
tracking/measuring
• Optimal tracking/measuring = use multiple
sensors
Precise Estimation

Data Fusion Component

Sensor Sensor Sensor

Bjoern Griesbach [email protected]

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 Sensor fusion/confusion
Said the eye one day, "I see beyond these valleys a mountain veiled with
blue mist. Is it not beautiful?“

The ear listened, and after listening intently awhile, said, "But where is
any
mountain? I do not hear "

Then the hand spoke and said, "I am trying in vain to feel it or touch it,
and I
can find no mountain.“

And the nose said, "There is no mountain, I cannot smell it.“

Then the eye turned the other way and they all began to talk together
way, about the eye's strange delusion. And they said, "Something
must be
the matter with the eye.“

K.Gibran: „The Madman“ (1946)

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Mathmatical sensorfusion methods
Simple:
• Use normal math to correct a signal
• Use simple algorithms to select the most
accurate signal.

Complex:
• Kalman filter
• Dempster–Shafer
• Bayesian network

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Simple Sensor fusion

Line drawed without sensor

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Simple sensor fusion

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Simple Sensor fusion

Line drawed with sensor

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 Simple Sensor fusion
Gyrodometri

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 Complex sensor fusion
Wanted: Fusion of odemetri and
GNSS data to detemine the most
accurate possition.

 Estimate pose of position

How to realize?

Kalmanfilter

Bjoern Griesbach [email protected]

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 Complex Sensor fusion -
Kalmanfilter
Optimal data processing algorithm
• Filter out noise of measurement data
• Can fuse different measurements to find the optimal
result
• Optimal: incorporates all information (i.e. measurement
data) that can be provided to it
• Does not need to keep all previous measurement data in
storage!

Bjoern Griesbach [email protected]

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 Complex Sensor fusion -
Kalmanfilter
• Pose of an object is represented as a vector
=(x,y,θ);
• By transforming poses of two different sensors
into the same coordinate system, one will get
two (noisy) measurements and for the same
object
• Each measurement is weighted differently 
depends on the variance of the measurement
• Each measurement has its own variance σi2
represented by a matrix Pi

Bjoern Griesbach [email protected]

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 Complex Sensor fusion -
Kalmanfilter
• Given: pose measurements: z1 z2 with
covariance matrices P1 P2 from two different
sensors
• Wanted: optimal weights to get optimal estimate
• Solution: Optimal estimate x with minimal
combined covariance matrix P:

r P2 r P1 r
x= z1 + z2 ;
P1 + P2 P1 + P2
P2
P= P1 ;
P1 + P2

Bjoern Griesbach [email protected]

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 Basic Kalman Filter
r r r r
• Process Model: x (t k ) = A ⋅ x (t k −1 ) + Bu (t k ) + w(t k −1 ) w(t ) → N (0, Q (t ))

r r r
• Measurement Model: z (t k ) = H ⋅ x (t k ) + v (t k ) v(t ) → N (0, R(t ))

• Algorithm: (vector arrows omitted!)

xˆ − (t k ) = Ax(t k −1 ) + Bu (t k ) [
xˆ(tk ) = xˆ− (tk ) + K ⋅ z(tk ) − H ⋅ xˆ− (tk ) ]
P − (t k ) = AP(t k −1 ) AT + Q (t k ) P(tk ) = [I − KH]P− (tk )

1. Predict 2. Correct

P − (t k ) H T
Kalman Gain K= −
HP (t k ) H T + R (t k )

Bjoern Griesbach [email protected]

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Combine simple and complex
sensor fusion

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 Sensor Fusion

What can it be used for?

Your imagination is the limit!

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