Research and SLAM Application of Information Fusion Theory Based on ESMS Filter
Xin Li · 2006
In this paper, we address the problem of selection of sources of information as a prerequisite for the fusion, and propose a very general evidence supporting measure of similarity (ESMS)for selecting the most coherent subset of sources to combine among all sources available at each instant. ESMS filter coupling with the fusion machine based on DSmT and PCR5 is applied to the SLAM of the Pioneer II mobile robot, where a virtual automatic mobile robot detecting the environment from 16 sonar sensors evolves in the virtual environment with obstacles. By comparing the result of map reconstruction of the world with or without ESMS filter, it testifies the superiority of the selection of the sources as prerequisite for improvement of information.