A simple algorithm for sensor fusion using spatial voting (unsupervised object grouping)
Holger M. Jaenisch, Nathaniel G. Albritton, James W. Handley, Randel B. Burnett, Robert Caspers, William P. Albritton · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
We present a simple algorithm for achieving unsupervised spatially distributed object fusion using spatial voting. We achieve spatial fusion of uncertain position estimates of disparate objects. These objects are portions of larger assemblies that cannot be directly observed by available sensors. Only the individual objects are discernable. The question arises how to fuse estimates of position uncertainty of these objects (potential assembly pieces) into an "assembly" whose location and extent can only be inferred. Our algorithm uses spatial correlation and stacking with voting of positional uncertainty ellipses. We present the positional algorithm and compare it to other methods of grouping uncertainties and find encouraging improved performance.