Variational approach to sensor fusion using registered range and intensity data

Homer H. Pien; John M. Gauch

doi:10.1117/12.155088

3 September 1993 Variational approach to sensor fusion using registered range and intensity data

Homer H. Pien, John M. Gauch

Proceedings Volume 1956, Sensor Fusion and Aerospace Applications; (1993) https://doi.org/10.1117/12.155088
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

Abstract

Past research into multi-modality sensor data fusion has given rise to approaches that can be characterized as heuristical and ad hoc. In this paper we propose a framework for fusing different modalities of registered sensory inputs at the data level by using the calculus of variations. The result is a mathematically rigorous method for improving the data quality, which can subsequently be utilized for fusion at the higher levels. We demonstrate this approach on the problem of estimating the three dimensional scene via the use of simulated noisy range and intensity images. The results indicate that a significant improvement over shape estimation via either shape from shading or shape from ranging alone can be achieved. The applicability of our fusion paradigm to other fusion problems is also discussed.

Citation Download Citation

Homer H. Pien and John M. Gauch "Variational approach to sensor fusion using registered range and intensity data", Proc. SPIE 1956, Sensor Fusion and Aerospace Applications, (3 September 1993); https://doi.org/10.1117/12.155088

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