Fusing Dynamic Percepts and Symbols in Cognitive Systems
Michael Felsberg, Gösta H. Granlund · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2008
A novel method for Bayesian tracking and generalized sensor fusion is proposed. The new approach is based on a localized histogram-like representation, the channel representation. The channel representation allows fusing continuous percepts and symbolic input, which enables the proposed scheme to implement perception-action loops with an additional control input. By connecting several such loops through actioncontrol links, a hierarchical network with flexible structure is generated. The novel tracking loops are validated in a simple experiment with real world data.