Reliability measure assignment to sonar for robust target differentiation

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dc.citation.epage1419en_US
dc.citation.issueNumber6en_US
dc.citation.spage1403en_US
dc.citation.volumeNumber35en_US
dc.contributor.authorAyrulu, B.en_US
dc.contributor.authorBarshan, B.en_US
dc.date.accessioned2016-02-08T10:33:06Z
dc.date.available2016-02-08T10:33:06Z
dc.date.issued2002en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractThis article addresses the use of evidential reasoning and majority voting in multi-sensor decision making for target differentiation using sonar sensors. Classification of target primitives which constitute the basic building blocks of typical surfaces in uncluttered robot environments has been considered. Multiple sonar sensors placed at geographically different sensing sites make decisions about the target type based on their measurement patterns. Their decisions are combined to reach a group decision through Dempster-Shafer evidential reasoning and majority voting. The sensing nodes view the targets at different ranges and angles so that they have different degrees of reliability. Proper accounting for these different reliabilities has the potential to improve decision making compared to simple uniform treatment of the sensors. Consistency problems arising in majority voting are addressed with a view to achieving high classification performance. This is done by introducing preference ordering among the possible target types and assigning reliability measures (which essentially serve as weights) to each decision-making node based on the target range and azimuth estimates it makes and the belief values it assigns to possible target types. The results bring substantial improvement over evidential reasoning and simple majority voting by reducing the target misclassification rate. © 2002 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.en_US
dc.identifier.doi10.1016/S0031-3203(01)00106-6en_US
dc.identifier.issn0031-3203
dc.identifier.urihttp://hdl.handle.net/11693/24699
dc.language.isoEnglishen_US
dc.publisherElsevieren_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/S0031-3203(01)00106-6en_US
dc.source.titlePattern Recognitionen_US
dc.subjectDempster-Shafer theoryen_US
dc.subjectEvidential reasoningen_US
dc.subjectMajority votingen_US
dc.subjectMobile roboticsen_US
dc.subjectReliability measureen_US
dc.subjectSonar sensingen_US
dc.subjectTarget classificationen_US
dc.subjectTarget differentiationen_US
dc.subjectClassification (of information)en_US
dc.subjectDecision makingen_US
dc.subjectReliabilityen_US
dc.subjectSensorsen_US
dc.subjectSonaren_US
dc.subjectTarget differentiationen_US
dc.subjectPattern recognitionen_US
dc.subjectsonaren_US
dc.titleReliability measure assignment to sonar for robust target differentiationen_US
dc.typeArticleen_US
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