用证据理论实现相关信息的融合
FUSION OF DEPENDENCY INFORMATION USING DEMPSTER-SHAFER EVIDENTIAL REASONING
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摘要: 用D-S(Dempster-Shafer)证据理论进行多信息融合有一个严格的要求,即要求各传感器所提供的证据相互独立。这在很多实际场合中却很难实现。本文简要地阐述了基于D-S证据理论的多传感器信息融合算法,提供了一种基于D-S理论的推广方法以解决信息融合的相关性问题。并用机器人的力觉和热觉传感器作实验,对该方法的有效性进行了研究。
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关键词:
- 相关证据; 信息融合; D-S证据理论
Abstract: Multisensor data fusion using Derapster-Shafer evidential reasoning is based on information s independence, but it is not true in many practical situations. This paper describes a multisensor data fusion method based on Dempster-Shafer evidential reasoning, and also gives a generalized Dempster-Shafer theory of evidence which is efficient in dealing with dependent, information. A test is tried out for object assortment based on the fusion of information from force and thermal sensors of the robot. -
L.A. Klein, Sensor and data fusion concepts and applications, Proc. of SPIE, 1993, TT-14,125-128.[2]G.A. Shafer, A Mathematical Theory of Evidence., Princeton, NJ., Princeton Univ. Press, 1976,Chapter 3. ［3］R.M. Fung, et al., Metaprobability and Dempster-Shafer in Evidential Reasoning, Uncertainty in Artificial Intelligence, North-Holland, Elsevier Science Publishers, 1986, 295-302.[3]邵远,何发昌,罗志增,多传感器信息融合浅析,电子学报,1994,22(5),73-79.[4]段新生,证据理论与决策、人工智能,北京,中国人民大学出版,1993,第二章.[5]Y.Q. Cheng, Y. G. Wu, et al., Generalized integration method of evidence with dependency information, Proc.[J]. of SPIE.1992,1828:288- -
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