Common Data Fusion Framework: An open-source Common Data Fusion Framework for space robotics. (18th March 2020)
- Record Type:
- Journal Article
- Title:
- Common Data Fusion Framework: An open-source Common Data Fusion Framework for space robotics. (18th March 2020)
- Main Title:
- Common Data Fusion Framework: An open-source Common Data Fusion Framework for space robotics
- Authors:
- Dominguez, Raul
Post, Mark
Fabisch, Alexander
Michalec, Romain
Bissonnette, Vincent
Govindaraj, Shashank - Abstract:
- Multisensor data fusion plays a vital role in providing autonomous systems with environmental information crucial for reliable functioning. In this article, we summarize the modular structure of the newly developed and released Common Data Fusion Framework and explain how it is used. Sensor data are registered and fused within the Common Data Fusion Framework to produce comprehensive 3D environment representations and pose estimations. The proposed software components to model this process in a reusable manner are presented through a complete overview of the framework, then the provided data fusion algorithms are listed, and through the case of 3D reconstruction from 2D images, the Common Data Fusion Framework approach is exemplified. The Common Data Fusion Framework has been deployed and tested in various scenarios that include robots performing operations of planetary rover exploration and tracking of orbiting satellites.
- Is Part Of:
- International journal of advanced robotic systems. Volume 17:Number 2(2020:Mar./Apr.)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 17:Number 2(2020:Mar./Apr.)
- Issue Display:
- Volume 17, Issue 2 (2020)
- Year:
- 2020
- Volume:
- 17
- Issue:
- 2
- Issue Sort Value:
- 2020-0017-0002-0000
- Page Start:
- Page End:
- Publication Date:
- 2020-03-18
- Subjects:
- Multisensor data fusion -- robotics software frameworks -- planetary robotics -- orbital robotics
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.1177/1729881420911767 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
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- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 13085.xml