Multisensor Fusion and Integration for Intelligent Systems : An Edition of the Selected Papers From the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2008

This volume aims at providing engineers, researchers, educators, and advanced students in the field of Multisensor Fusion and Integration for Intelligent Systems with the recent progress in theory and applications. This was done by selecting high quality papers with appropriate themes from the IEEE International Conference on of Multisensor Fusion and Integration for Intelligent Systems (MFI 2008) held in Seoul, Korea, August 20-22, 2008, and by editing them for a consistent flow of the chosen theme. The book has the following distinct features: 1) The book addresses the growing interest in our society regarding the field of Multisensor Fusion and Integration for Intelligent Systems and 2) the book contains an introduction for each selected theme and included the editorial process to collect final manuscripts in major revision. The following topics are covered by the book: Sensor Network, Information Fusion, Robotics, Surveillance, Vision, HCI, SLAM, Applications (Underwater, ITS, etc.). Front Matter....Pages 1-14 Front Matter....Pages 1-2 Performance Analysis of GPS/INS Integrated System by Using a Non-Linear Mathematical Model....Pages 3-14 Object-Level Fusion and Confidence Management in a Multi-Sensor Pedestrian Tracking System....Pages 15-31 Effective Lip Localization and Tracking for Achieving Multimodal Speech Recognition....Pages 33-43 Optimal View Selection and Event Retrieval in Multi-Camera Office Environment....Pages 45-53 Fusion of Multichannel Biosignals Towards Automatic Emotion Recognition....Pages 55-68 A Comparison of Track-to-Track Fusion Algorithms for Automotive Sensor Fusion....Pages 69-81 Effective and Efficient Communication of Information....Pages 83-95 Most Probable Data Association with Distance and Amplitude Information for Target Tracking in Clutter....Pages 97-109 Simultaneous Multi-Information Fusion and Parameter Estimation for Robust 3-D Indoor Positioning Systems....Pages 111-125 Efficient Multi-Target Tracking with Sub-Event IMM-JPDA and One-Point Prime Initialization....Pages 127-142 Enabling Navigation of MAVs through Inertial, Vision, and Air Pressure Sensor Fusion....Pages 143-158 Front Matter....Pages 159-161 Enhancement of Image Degraded by Fog Using Cost Function Based on Human Visual Model....Pages 163-171 Pedestrian Route Guidance by Projecting Moving Images....Pages 173-186 Recognizing Human Activities from Accelerometer and Physiological Sensors....Pages 187-199 The “Fast Clustering-Tracking” Algorithm in the Bayesian Occupancy Filter Framewok....Pages 201-219 Compliant Physical Interaction Based on External Vision-Force Control and Tactile-Force Combination....Pages 221-233 iTASC: A Tool for Multi-Sensor Integration in Robot Manipulation....Pages 235-254 Behavioral Programming with Hierarchy and Parallelism in the DARPA Urban Challenge and RoboCup....Pages 255-269 Simultaneous Estimation of Road Region and Ego-Motion with Multiple Road Models....Pages 271-288 Model-Based Recognition of 3D Objects using Intersecting Lines....Pages 289-300 Front Matter....Pages 159-161 Visual SLAM in Indoor Environments Using Autonomous Detection and Registration of Objects....Pages 301-314 People Detection using Double Layered Multiple Laser Range Finders by a Companion Robot....Pages 315-331 Front Matter....Pages 333-334 Path-selection Control of a Power Line Inspection Robot Using Sensor Fusion....Pages 335-348 Intelligent Glasses: A Multimodal Interface for Data Communication to the Visually Impaired....Pages 349-357 Fourier Density Approximation for Belief Propagation in Wireless Sensor Networks....Pages 359-373 Passive Localization Methods Exploiting Models of Distributed Natural Phenomena....Pages 375-392 Study on Spectral Transmission Characteristics of the Reflected and Self-emitted Radiations through the Atmosphere....Pages 393-406 3D Reflectivity Reconstruction by Means of Spatially Distributed Kalman Filters....Pages 407-421 T-SLAM: Registering Topological and Geometric Maps for Robot Localization....Pages 423-438 Map Fusion Based on a Multi-Map SLAM Framework....Pages 439-454 Development of a Semi-Autonomous Vehicle Operable by the Visually Impaired....Pages 455-467 Process Diagnosis and Monitoring of Field Bus based Automation Systems using Self-Organizing Maps and Watershed Transformations....Pages 469-479 The ?eld of multi-sensor fusion and integration is growing into signi?cance as our societyisintransitionintoubiquitouscomputingenvironmentswithroboticservices everywhere under ambient intelligence. What surround us are to be the networks of sensors and actuators that monitor our environment, health, security and safety, as well as the service robots, intelligent vehicles, and autonomous systems of ever heightened autonomy and dependability with integrated heterogeneous sensors and actuators. The ?eld of multi-sensor fusion and integration plays key role for m- ing the above transition possible by providing fundamental theories and tools for implementation. This volume is an edition of the papers selected from the 7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI‘08, held in Seoul, Korea, August 20–22, 2008. Only 32 papers out of the 122 papers accepted for IEEE MFI’08 were chosen and requested for revision and extension to be included in this volume. The 32 contributions to this volume are organized into three parts: Part I is dedicated to the Theories in Data and Information Fusion, Part II to the Multi-Sensor Fusion and Integration in Robotics and Vision, and Part III to the Applications to Sensor Networks and Ubiquitous Computing Environments. To help readers understand better, a part summary is included in each part as an introduction. The summaries of Parts I, II, and III are prepared respectively by Prof. Hanseok Ko, Prof. Sukhan Lee and Prof. Hernsoo Hahn. This volume is aimed at engineers, researchers, educators, and advanced students in the field of Multisensor Fusion and Integration for Intelligent Systems. It includes the recent progress made in theory and applications