Contents

List of Contributors          ix

Preface               xiii

Acknowledgements               xv

1  Introduction               1

    Ren C. Luo and Michael G. Kay

Part I       Multisensor Integration

2  Introduction to Part I               29

    Ren C. Luo and Michael G. Kay

3  A Survey of AI Approaches to the Integration of Information               49

    Thomas D. Garvey

4  Logical Sensor Systems               81

    Thomas C. Henderson and Esther Shilcrat

5  Neural Network Approach to Sensory Fusion               111

    John C. Pearson, Jack J. Gelfand, W. E. Sullivan, Richard M. Peterson and Clay D. Spence

6  Knowledge Representation Approaches in Sensor Fusion               121

    L. Pau

7  MKS: A Multisensor Kernel System               139

    Thomas S. Henderson and Wu S. Fai

Part II       Multisensor Fusion

8  Introduction to Part II               155

    Ren C. Luo and Michael G. Kay

9  Fusion of Multisensor Data               183

    John M. Richardson and Kenneth A. Marsh

10  Dynamic Multisensor Data Fusion System for Intelligent Robots               217

      Ren C. Luo, Min Hsiung Lin and Ralph S. Scherp

11  Geometrical Fusion Method for Multisensor Robotic Systems               241

      Yoshihiko Nakamura and Yingti Xu

12  Optimal Combination and Constraints for Geometrical Sensory Data               261

      John Porrill

13  Feature Space Mapping for Sensor Fusion               283

      Gerald M. Flachs, Jay B. Jordan, C. L. Beer, D. R. Scott and Jeffrey J. Carlson

14  An Inference Technique for Integrating Knowledge from Disparate Sources               309

      Thomas D. Garvey, John D. Lowrence and Martin A. Fischler 

15  Measuring Consensus Effectiveness by a Generalized Entropy Criterion               327

      Harry E. Stephanou and Shin Lee-You

Part III       Object Recognition

16  Introduction to Part III               357

      Ren C. Luo and Michael G. Kay

17  Integrated Analysis of Thermal and Visual Images for Scene Interpretation               375

      N. Nandakumar and J. K. Aggarwal

18  Integrating Vision and Touch for Object Recognition Tasks               407

      Peter K. Allan

Part IV       Multisensor-Based Mobile Robots

19  Introduction to Part IV               443

      Ren C. Luo and Michael G. Kay

20  Multisensor Fusion and Navigation of Mobile Robots               467

      Su-shing Chen

21  Building, Registrating, and Fusing Noisy Visual Maps               495

      Nicholas Ayache and Olivier D. Faugeras

Part V       Applications

22  Introduction to Part V               541

      Ren C. Luo and Michael G. Kay

23  Data Fusion and Decision Support for Command and Control               563

      Edward L. Waltz and Dennis M. Buede

24  Theoretical Approaches to Data Association and Fusion               597

      Samuel S. Blackman

25  Joint Probabilistic Data Association in Distributed Sensors Network               611

      Kuo-Chu Chang, Chee-Yee Chong and Yaakov Bar-Shalom

26  Optimal Distributed Decision Fusion               637

      Stelios C. A. Thomopoulas, Ramanarayanan Vishwanathan and Dimitrios K. Bougoulias

27  Optimal Serial Distributed Decision Fusion               647

Author Index               673

Subject Index              683