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Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Raw sensor performance. The performance of all sensors is measured in an empty.

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Presentation on theme: "Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Raw sensor performance. The performance of all sensors is measured in an empty."— Presentation transcript:

1 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Raw sensor performance. The performance of all sensors is measured in an empty room. The ground truth is obtained from a laser ranger finder. (a) Shows the result of an infrared sensor which matches well to the ground truth. (b) and (c) Show the result of using narrow-beam and wide-beam acoustic sensors. The acoustic sensors' performance is not good, especially when the sensor is not perpendicular to the wall. (d) Shows the result of a FMCW radar. It also has the characteristic that it performs well when the sensor is perpendicular to the wall. (e) Shows the result using stereo cameras. Its result matches well to the ground truth when there is strong texture on the wall. Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

2 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. FMCW radar performance. (a) Evaluates different signal-processing algorithms. MUSIC was chosen as the FMCW signal processing algorithm. (b) Demonstrates the ability of a FMCW radar to detect walls behind obstacles. Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

3 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. FMCW radar performance with different antennas. (a), (b), and (c) show the performance of horn antennas with different polarizations. The narrower beamwidth and higher gain antenna performs better. (d), (e) and (f) Show the performance of patch antennas with even narrower beamwidth, but they perform worse compared to the horn antennas. Thus, a Sivers IMA RS3400 with a 24 GHz RF Module and a 20° 17 dBi vertical polarization horn antenna were chosen. Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

4 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Fusion algorithm steps, using raw points from the stereo cameras for example. The raw data from a single height in an empty room with strong texture on the wall is shown in (a). The result after noise removal is shown in (b). Lines extracted by Hough transform and line fitting are shown in (c) and (d). The lines with unbounded lengths are trimmed to line segments that extend only as far as there are data points that support them. Trimmed line segments are shown in (e). Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

5 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Description of the communication scheme. The sensor node is responsible for collecting sensor data, packaging the data and transmitting it to the super node. The super node is responsible for relaying information from the sensor node to the control node, determining its own location using a GPS module and locating sensor nodes using the wireless communication network. The control node fuses the sensor data and generates the floor plan of the building. Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

6 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Photographs of the data collection system hardware: (a) is the sensor node, and (b) is the super node. The control node is a conventional laptop computer. Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

7 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Line segments from all selected heights in a room are stacked as shown in (a). All line segments are processed together. The outermost ones are shown in (b). All line segments are expected to meet at right angles at corners, and opposite walls are expected to be parallel. The result of enforcing parallel and right angles is shown in (c). Some redundant line segments are then removed and the result is shown in (d). The final step extends or trims adjacent walls to form a neat square corner. The result is shown in (e). Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104

8 Date of download: 5/30/2016 Copyright © 2016 SPIE. All rights reserved. Experimental results. A Location consisted of several small adjoining rooms is shown in (a). Another location, a single large room, is shown in (b). Figure Legend: From: Multisensor comparison and data fusion for mapping enclosed spaces J. Electron. Imaging. 2012;21(2):021104-1-021104-12. doi:10.1117/1.JEI.21.2.021104


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