Sensor Fusion

General Idea : Use multiple data sources to improve measurement quality, reliability and coverage, as well as estimate states that aren’t measured directly.

Resources :

• Understanding Sensor Fusion and Tracking, Part 1

Notes :

Sensor Fusion : Combining two or more data sources in a way that generates a better understanding of the system.

• Increase the quality of the data

  • More Consistent

  • More Accurate

  • More Dependable

• Increase Reliability

  • Redundant computation paths in case we lose a sensor?

    • Estimation quality will drop but we wont lose the measurement completely.

    • This makes more sense with sensor duplication?

• Estimation of unmeasured states

• Increase coverage area

• Sense

  • Gather Data

• Perceive

  • Localization and Positioning

  • Detection and Tracking

• Plan

• Act

  • Control System