Localization and Identification of Multiple Objects with Heterogeneous Sensor Data by EM Algorithm
Localization and Identification of Multiple Objects with Heterogeneous Sensor Data by EM Algorithm
复制标题
EM算法对异构传感器数据的多目标定位与识别
DOI：
10.1109/sice.2006.315051
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Machida
中科院分区：
文献类型：
--
作者：
H. Kanazaki;T. Yairi;J. Shibata;Y. Shirasaka;K. Machida
在本文中，我们描述了一种融合异构传感器数据以定位和识别对象的公式和 EM 方法。异构传感器包括摄像头、RFID 读取器和测距仪。它们在定位和识别对象的准确度方面彼此不同。识别对象的错误是导致定位困难的一个问题。我们用隐藏变量 R 来表述定位和识别问题，该变量描述了对象与观测值之间的关联。我们通过 EM 算法估计对象的位置和关联向量 R。我们在使用模拟摄像头和 RFID 读取器的情况下说明该算法。实验结果表明，与其他没有 R 的方法相比，我们的方法可以更准确地定位和识别目标
In this paper, we describe a formulation and EM method to fuse heterogeneous sensor data for localizing and identifying objects. The heterogeneous sensors are such as cameras, RFID readers and range finders. They are different from each other in degree of accuracy of localizing and identifying objects. Errors in identifying objects is a problem which makes localization difficult. We formulate a localization and identification problem with a hidden variable R which describes associations between objects and observed values. We estimate objects' positions and the association vector R by an EM algorithm. We illustrate the algorithm in a case of using simulated cameras and RFID readers. Experimental results show that our method can localize and identify objects more accurately than other methods without the R