用證據(jù)理論實(shí)現(xiàn)相關(guān)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)證據(jù)理論進(jìn)行多信息融合有一個(gè)嚴(yán)格的要求,即要求各傳感器所提供的證據(jù)相互獨(dú)立。這在很多實(shí)際場合中卻很難實(shí)現(xiàn)。本文簡要地闡述了基于D-S證據(jù)理論的多傳感器信息融合算法,提供了一種基于D-S理論的推廣方法以解決信息融合的相關(guān)性問題。并用機(jī)器人的力覺和熱覺傳感器作實(shí)驗(yàn),對該方法的有效性進(jìn)行了研究。
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關(guān)鍵詞:
- 相關(guān)證據(jù); 信息融合; D-S證據(jù)理論
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]邵遠(yuǎn),何發(fā)昌,羅志增,多傳感器信息融合淺析,電子學(xué)報(bào),1994,22(5),73-79.[4]段新生,證據(jù)理論與決策、人工智能,北京,中國人民大學(xué)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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