PERCEPT: a sophisticated experimental set-up dedicated to heterogeneous sensor fusion
O. Dessoude, C. Olivier, Bertrand Zavidovique · 2002
The study of perception, an essential function for autonomous robotics, has led to new developments in the fields of modeling, stochastic data processing, and control. The authors describe a surveillance robot dedicated to heterogeneous data fusion algorithms' implementation and real-size real-time testing, which has become necessary to validate these emerging techniques in a realistic environment. This robot holds various sensors mounted on rotational units and provides a multi-degree-of-freedom command. The design includes original distributed hardware and software architectures encompassing the specific data processing, fusion, and feedback control. Modularity and a user-friendly interface allow easy design of perception control applications.>