特集　センサフュージョン　動きの予測を伴う能動的認識のアルゴリズム

• 阪口 豊

  東京大学工学部

書誌事項

タイトル別名

• Special issue "Sensor Fusion". An Attentional Perception Algorithm with Prediction.

抄録

In understanding circumstances, we human beings direct our attention to appropriate information sources and collect necessary information according to our purpose. The author formalized such an attentional perception process as a sequential experimental design based on an information criterion and described its concrete algorithm. In the present article, the author develops the algorithm with an idea of prediction so as to estimate a time-variant object's state efficiently. The algorithm is to predict the object's state using the internal state transition model and to observe the object with the most informative sensor when the ambiguity of the prediction exceeds a specified limit. The author applies the algorithm to a problem of estimating the position of a moving target with observing it by a camera at times, and investigates its behavior through numerical experiments. The result shows that the system turns the camera's visual field to proper directions at proper times and estimates the target's position with specified accuracy by fewer observations.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 12 (5), 708-714, 1994

  一般社団法人 日本ロボット学会

キーワード

• Sensory Integration
• Attentional Perception
• Prediction
• Experimental Design
• Mutual Information

詳細情報

• CRID: 1390282679703505920
• NII論文ID: 10006916767
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.12.708
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可