Institut de Robòtica i Informàtica Industrial

SensorFusion

PURPOSE ^

Fusion of noisy sensor readings.

SYNOPSIS ^

function G=SensorFusion(range,SR,Sn)

DESCRIPTION ^

 Fusion of noisy sensor readings.

 Fuses a set of sensor readings taking into account their noise.
 The fusion is implemented as a product of the Gaussian defined with the
 sensor reading as a mean and the sensor noise as covariance.
 Only valid sensor readings (sensor readings that are not NullPoses) 
 are taken into account in the fusion.

 Parameters:
     - range: selects the sub-set of sensors to fuse.
     - SR: cell array with all the sensor readings.
     - Sn: cell array with the noise for all sensors.

 See also NullPose.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function G=SensorFusion(range,SR,Sn)
0002 % Fusion of noisy sensor readings.
0003 %
0004 % Fuses a set of sensor readings taking into account their noise.
0005 % The fusion is implemented as a product of the Gaussian defined with the
0006 % sensor reading as a mean and the sensor noise as covariance.
0007 % Only valid sensor readings (sensor readings that are not NullPoses)
0008 % are taken into account in the fusion.
0009 %
0010 % Parameters:
0011 %     - range: selects the sub-set of sensors to fuse.
0012 %     - SR: cell array with all the sensor readings.
0013 %     - Sn: cell array with the noise for all sensors.
0014 %
0015 % See also NullPose.
0016 
0017 
0018   first=true;
0019   for i=range
0020     d=SR{i};
0021     % Some sensor readings are erroneous and have not to be fused
0022     if ~NullPose(d)
0023       if first
0024         G=Gaussian(double(SR{i}),Sn{i});
0025         first=false;
0026       else
0027         G=G*Gaussian(double(SR{i}),Sn{i});
0028       end
0029     end
0030   end
0031   
0032   if first
0033     % if no valid data was provided we return a Gaussian on a NullPose
0034     G=Gaussian(double(SR{range(1)}),Sn{range(1)});
0035   end
0036


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