A review of sensor fusion techniques for underwater vehicle navigation

Nicosevici, Tudor; García, Rafael; Carreras, Marc; Villanueva, Miquel

doi:10.1109/oceans.2004.1406361

Cited by 31 publications

(17 citation statements)

References 30 publications

(16 reference statements)

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“…A sensor fusion can by performed at multiple levels of fusion, depending on the number and types of sensors [10]. In this work, the fusion algorithm performs a two-level fusion.…”

Section: Hybrid Position and Orientation Tracking For A Passivementioning

confidence: 99%

Hybrid position and orientation tracking for a passive rehabilitation table-top robot

Wojewoda

Culmer

Gallagher

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Abstract-This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors and a webcam. Two laser optical sensors are mounted on the underside of the robot and track the relative motion of the robot with respect to the surface on which it is placed. The webcam is positioned directly above the workspace, mounted on a fixed stand, and tracks the robot's position with respect to a fixed coordinate system. The optical sensors sample the position data at a higher frequency than the webcam, and a position and orientation fusion scheme is proposed to fuse the data from the two tracking systems. The proposed fusion scheme is validated through an experimental set-up whereby the rehabilitation robot is moved by a humanoid robotic arm replicating previously recorded movements of a stroke patient. The results prove that the presented hybrid position tracking system can track the position and orientation with greater accuracy than the webcam or optical sensors alone. The results also confirm that the developed system is capable of tracking recovery trends during rehabilitation therapy.

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“…A sensor fusion can by performed at multiple levels of fusion, depending on the number and types of sensors [10]. In this work, the fusion algorithm performs a two-level fusion.…”

Section: Hybrid Position and Orientation Tracking For A Passivementioning

confidence: 99%

Hybrid position and orientation tracking for a passive rehabilitation table-top robot

Wojewoda

Culmer

Gallagher

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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“…Balises are used as electric beacon or beacons and are placed between rails and compose parts of the ATP system. Balises transmit and receive radio signals to and from vehicles and are used in sea and air navigation system . A balise is designed to send the same data to every vehicle passing over it.…”

Section: Technical Viewpoint Of Sensorsmentioning

confidence: 99%

Genetic algorithm and particle swarm optimization algorithm for speed error reduction in railway signaling systems

Sandidzadeh

Heydari

Khodadadi

2012

Adaptive Control & Signal

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“…A method of cable tracking that utilizes MSDF between an INS, GPS, and vision based dead reckoning is also proposed but to the authors' knowledge no results for the system have been published to date. Nicosevici et al presented a classification of currently used sensor fusion techniques that focuses on its application to UUV navigation (Nicosevici et al 2004). Many of systems reviewed implement the extended Kalman filter for sensor data fusion.…”

Section: Navigation Using Sensor Fusionmentioning

confidence: 99%