Sensor fusion in mobile robot: some perspectives
Bibliographic record
Abstract
In this paper, techniques and theory work of multiple sensor fusion in mobile robot are reviewed. Mobile robot needs to integrate multiple sensors to accomplish tasks such as map building, object recognition, obstacle avoidance, self-localization and path planning. Our survey describes sensor fusion in three categories: 1) statistically based fusion algorithm policies need the a priori knowledge about the observation process to make inference about identity; 2) neural network and fuzzy set based fusion policies are distribution free and no prior knowledge is needed about the statistical distributions of the classes in the data source in order to apply these methods for fusion; and 3) information theoretic fusion algorithm policies make use of a transformation or mapping between parametric data and a resultant identity declaration. Techniques such as Kalman filtering, rule-based techniques, behavior based algorithms, and approaches range from Bayesian theory, Dempster-Shafer evidence theory to fuzzy logic and neural networks are reviewed. The paper concludes with further research directions.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.002 |
| Science and technology studies | 0.001 | 0.003 |
| Scholarly communication | 0.003 | 0.005 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.004 | 0.003 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".