We propose a novel Bayesian error correction algorithm based on joint channel and data maximal-likelihood (ML) detection in wireless sensor networks (WSN). The proposed algorithm employs the temporal correlation of the narrowband sensor data in conjunction with the channel state information (CSI) for detection and error correction of the data received over the Rayleigh fading wireless channel. The proposed joint maximum-likelihood (JML) algorithm compares the joint channel and data likelihoods along different paths of the data likelihood tree (DLT), which is readily adaptable for efficient practical implementation in WSNs. Further, the JML scheme employs the sphere decoder for computation of the maximally likely sphere sensor data vectors in the WSN and thus has a low computational complexity. Simulation results demonstrate significantly reduced sensor error for the proposed WSN sensor correction technique over competing schemes existing in current literature.
{"title":"Bayesian data and channel joint maximum-likelihood based error correction in wireless sensor networks","authors":"A. Katiyar, A. Jagannatham","doi":"10.1145/2185216.2185261","DOIUrl":"https://doi.org/10.1145/2185216.2185261","url":null,"abstract":"We propose a novel Bayesian error correction algorithm based on joint channel and data maximal-likelihood (ML) detection in wireless sensor networks (WSN). The proposed algorithm employs the temporal correlation of the narrowband sensor data in conjunction with the channel state information (CSI) for detection and error correction of the data received over the Rayleigh fading wireless channel. The proposed joint maximum-likelihood (JML) algorithm compares the joint channel and data likelihoods along different paths of the data likelihood tree (DLT), which is readily adaptable for efficient practical implementation in WSNs. Further, the JML scheme employs the sphere decoder for computation of the maximally likely sphere sensor data vectors in the WSN and thus has a low computational complexity. Simulation results demonstrate significantly reduced sensor error for the proposed WSN sensor correction technique over competing schemes existing in current literature.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122644435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The application of wireless for humanitarian relief can be greatly enhanced by circumventing the range limitations of current technologies, without requiring bulky transceivers with very large antennas. In this talk, we discuss two broad approaches to this problem, and give some preliminary results that illustrate the promise of these approaches. The first approach is the use of distributed antenna arrays using cooperation among neighboring nodes. Promising results over the past few years, both in terms of theory and prototyping, indicate that such distributed arrays have the potential of providing order of magnitude range improvements, along with enhanced spatial reuse. Such distributed arrays are easy to set up and tear down, since they can be realized with nodes with compact form factor, and allow operation over large carrier wavelengths (for which conventional centralized antenna arrays would be too bulky), thus significantly enhancing propagation. The second approach is the use of autonomous mobile agents such as Unmanned Aerial Vehicles (UAV) as an integral part of the sensing and communications infrastructure., which can, providing connectivity in disconnected networks and for tracking survivors using radio frequency (RF) beacons. We discuss promising recent results on providing adaptive UAV-based data collection and processing for disconnected sensor networks, and on robust algorithms for following RF beacons despite large spatial fades (which apply, for example, for tracking survivors in a disaster situation).
{"title":"Reaching out with wireless","authors":"Upamanyu Madhow","doi":"10.1145/2185216.2185237","DOIUrl":"https://doi.org/10.1145/2185216.2185237","url":null,"abstract":"The application of wireless for humanitarian relief can be greatly enhanced by circumventing the range limitations of current technologies, without requiring bulky transceivers with very large antennas. In this talk, we discuss two broad approaches to this problem, and give some preliminary results that illustrate the promise of these approaches. The first approach is the use of distributed antenna arrays using cooperation among neighboring nodes. Promising results over the past few years, both in terms of theory and prototyping, indicate that such distributed arrays have the potential of providing order of magnitude range improvements, along with enhanced spatial reuse. Such distributed arrays are easy to set up and tear down, since they can be realized with nodes with compact form factor, and allow operation over large carrier wavelengths (for which conventional centralized antenna arrays would be too bulky), thus significantly enhancing propagation. The second approach is the use of autonomous mobile agents such as Unmanned Aerial Vehicles (UAV) as an integral part of the sensing and communications infrastructure., which can, providing connectivity in disconnected networks and for tracking survivors using radio frequency (RF) beacons. We discuss promising recent results on providing adaptive UAV-based data collection and processing for disconnected sensor networks, and on robust algorithms for following RF beacons despite large spatial fades (which apply, for example, for tracking survivors in a disaster situation).","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123298889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The frequency shift and amplitude change in Schumann resonance (SR) as a precursor of some moderate to strong earthquakes was observed and reported. Co-seismic SR variation could be occurring at even large magnitude and scale. In this study, we first model Schumann resonance associated with the occurrence of an earthquake and assess the SR variation recorded from an earth-based sensor network. Based on the computer simulation results, we then propose a wireless observation system to monitor SR as a potential precursor prior to an earthquake using a wireless sensor network (WSN). A WSN based on single antenna wireless sensor nodes are cooperated to establish a multiple-antenna WSN that is called virtual MIMO-WSN. Virtual MIMO-WSN is adjustable and tunable to monitor electromagnetic signals in different frequencies based on the number of the cooperative wireless sensor nodes. An electromagnetic map could then be generated by activating a virtual MIMO-WSN in specific direction by switching on/off certain sensor nodes based on their location (also known as beamforming). Cost effectiveness, system scalability, ease of deployment, adjustability in frequency tuning, and reliability in ELF/VLF direction-finding are the key design factors in virtual MIMO-WSN to overcome the bottlenecks in the existing techniques for ELF/VLF monitoring systems. Simulation results are used to evaluate these quality indices of the proposed virtual MIMO-WSN.
{"title":"Monitoring Schumann resonance and other electromagnetic precursors of an earthquake with a virtual MIMO wireless sensor network","authors":"Weidong Yi, Lanbo Liu","doi":"10.1145/2185216.2185290","DOIUrl":"https://doi.org/10.1145/2185216.2185290","url":null,"abstract":"The frequency shift and amplitude change in Schumann resonance (SR) as a precursor of some moderate to strong earthquakes was observed and reported. Co-seismic SR variation could be occurring at even large magnitude and scale. In this study, we first model Schumann resonance associated with the occurrence of an earthquake and assess the SR variation recorded from an earth-based sensor network. Based on the computer simulation results, we then propose a wireless observation system to monitor SR as a potential precursor prior to an earthquake using a wireless sensor network (WSN). A WSN based on single antenna wireless sensor nodes are cooperated to establish a multiple-antenna WSN that is called virtual MIMO-WSN. Virtual MIMO-WSN is adjustable and tunable to monitor electromagnetic signals in different frequencies based on the number of the cooperative wireless sensor nodes. An electromagnetic map could then be generated by activating a virtual MIMO-WSN in specific direction by switching on/off certain sensor nodes based on their location (also known as beamforming). Cost effectiveness, system scalability, ease of deployment, adjustability in frequency tuning, and reliability in ELF/VLF direction-finding are the key design factors in virtual MIMO-WSN to overcome the bottlenecks in the existing techniques for ELF/VLF monitoring systems. Simulation results are used to evaluate these quality indices of the proposed virtual MIMO-WSN.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114190330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Lanbo Liu, Hao Xie, Zijian Liu, A. Bagtzoglou, B. Barrowes, Antonio M. Vincitore
Using finite difference time domain numerical simulation approach we have investigated the use of ultra-wide band (UWB) radar techniques for vital signal detection in an earthquake debris environment. The model of earthquake debris resulting from a collapsed building was constructed based on a real earthquake disaster site in northeastern Tibet. The model consists of two human beings with different vital signals, i.e., with different cardio-respiration features, posed in different position, and buried at different depth in the debris. We start the model with a setup of single source multiple receiver impulse radar, and then expand the model to a setup of single-source and single receiver profiling case. This paper presents the simulation results using the UWB impulse radar technique and recommends the appropriate practice for earthquake rescue efforts.
{"title":"Numerical simulation of UWB impulse radar vital signal detection at an earthquake disaster site","authors":"Lanbo Liu, Hao Xie, Zijian Liu, A. Bagtzoglou, B. Barrowes, Antonio M. Vincitore","doi":"10.1145/2185216.2185291","DOIUrl":"https://doi.org/10.1145/2185216.2185291","url":null,"abstract":"Using finite difference time domain numerical simulation approach we have investigated the use of ultra-wide band (UWB) radar techniques for vital signal detection in an earthquake debris environment. The model of earthquake debris resulting from a collapsed building was constructed based on a real earthquake disaster site in northeastern Tibet. The model consists of two human beings with different vital signals, i.e., with different cardio-respiration features, posed in different position, and buried at different depth in the debris. We start the model with a setup of single source multiple receiver impulse radar, and then expand the model to a setup of single-source and single receiver profiling case. This paper presents the simulation results using the UWB impulse radar technique and recommends the appropriate practice for earthquake rescue efforts.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131547081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Research interests: Network design and performance, approximation algorithms, security, complexity theory and combinatorics.
主要研究方向:网络设计与性能、近似算法、安全性、复杂性理论与组合学。
{"title":"Content delivery through the ages: Akamai to WebCloud","authors":"Ravi Sundaram","doi":"10.1145/2185216.2185266","DOIUrl":"https://doi.org/10.1145/2185216.2185266","url":null,"abstract":"Research interests: Network design and performance, approximation algorithms, security, complexity theory and combinatorics.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130843499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Faisal B. Luqman, Feng-Tso Sun, Heng-Tze Cheng, S. Buthpitiya, M. Griss
A vast majority of emergency response scenarios have two distinguishing characteristics: an overflow of data and a lack of resources to handle this increase in data. This surge of data within a resource and bandwidth constrained network may cause congestion collapse, and prevent critical data from reaching decision makers in time. Thus it is crucial to have in place a system that allows for high priority data to reach emergency responders and key personnel with minimal delay, allowing them to effectively respond to critical issues as soon as they occur. In this paper, we present TRIAGE, a framework that prioritizes data based on user context, message content and role.
{"title":"Prioritizing data in emergency response based on context, message content and role","authors":"Faisal B. Luqman, Feng-Tso Sun, Heng-Tze Cheng, S. Buthpitiya, M. Griss","doi":"10.1145/2185216.2185244","DOIUrl":"https://doi.org/10.1145/2185216.2185244","url":null,"abstract":"A vast majority of emergency response scenarios have two distinguishing characteristics: an overflow of data and a lack of resources to handle this increase in data. This surge of data within a resource and bandwidth constrained network may cause congestion collapse, and prevent critical data from reaching decision makers in time. Thus it is crucial to have in place a system that allows for high priority data to reach emergency responders and key personnel with minimal delay, allowing them to effectively respond to critical issues as soon as they occur. In this paper, we present TRIAGE, a framework that prioritizes data based on user context, message content and role.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"803 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131706029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Robust RF fingerprinting-based location determination techniques and their system architecture are presented. The techniques are particularly designed for the 4G environment and tested in live mobile WiMAX networks. The causes for the signal measurement variation are identified, and the system is designed taking those into account. Automatic radiomap generation techniques, using the gridding with the interpolation, are proposed to deal with measurements with the missing data and the measurement variation.
{"title":"Robust RF fingerprinting techniques in 4G networks","authors":"Dongwoon Hahn, A. Agrawala","doi":"10.1145/2185216.2185275","DOIUrl":"https://doi.org/10.1145/2185216.2185275","url":null,"abstract":"Robust RF fingerprinting-based location determination techniques and their system architecture are presented. The techniques are particularly designed for the 4G environment and tested in live mobile WiMAX networks.\u0000 The causes for the signal measurement variation are identified, and the system is designed taking those into account. Automatic radiomap generation techniques, using the gridding with the interpolation, are proposed to deal with measurements with the missing data and the measurement variation.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114429040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this invited talk, we will start by surveying the research works conducted during the last 30 years on wireless networking technologies from ad hoc, mesh to delay-tolerant opportunistic networks. We present how these networking technology may be applied to uphold communications in the event of a disaster where the communication infrastructure can be wiped-out (earthquakes, floods), overloaded (surge of traffic and flash crowds) or not existing in the first place (developing countries). We summarize the advantages and disadvantages of each unique approach, how they can be combined together (and with legacy systems), and focus on recent advances in the field. In a second part we will present, Twimight, our Twitter application relying on opportunistic communications to spread tweets and sensor data in an epidemic fashion. Twimight is an open source Twitter client for Android phones featured with a "disaster mode", which users enable upon losing connectivity. In the disaster mode, tweets are not sent to the online Twitter servers but stored on the phone, carried around as people move, and forwarded opportunistically via Bluetooth or WiFi Direct when in proximity with other smartphones. We will demonstrate how opportunistic technologies such as Twimight can be of great value right after a disaster by enabling the self-organization of victims and a better coordination with first rescue organizations. Eventually, we will conclude with the main challenges still to overcome and provide directions for future research in this emerging field from protocol and system design to security and data privacy. We will stress the need for cross-disciplinary approaches to better understand the psychology of distressed victims and their interaction with innovative communication technologies.
{"title":"30 years of ad hoc networking research: what about humanitarian and disaster relief solutions? what are we still missing?","authors":"F. Legendre","doi":"10.1145/2185216.2185279","DOIUrl":"https://doi.org/10.1145/2185216.2185279","url":null,"abstract":"In this invited talk, we will start by surveying the research works conducted during the last 30 years on wireless networking technologies from ad hoc, mesh to delay-tolerant opportunistic networks. We present how these networking technology may be applied to uphold communications in the event of a disaster where the communication infrastructure can be wiped-out (earthquakes, floods), overloaded (surge of traffic and flash crowds) or not existing in the first place (developing countries). We summarize the advantages and disadvantages of each unique approach, how they can be combined together (and with legacy systems), and focus on recent advances in the field. In a second part we will present, Twimight, our Twitter application relying on opportunistic communications to spread tweets and sensor data in an epidemic fashion. Twimight is an open source Twitter client for Android phones featured with a \"disaster mode\", which users enable upon losing connectivity. In the disaster mode, tweets are not sent to the online Twitter servers but stored on the phone, carried around as people move, and forwarded opportunistically via Bluetooth or WiFi Direct when in proximity with other smartphones.\u0000 We will demonstrate how opportunistic technologies such as Twimight can be of great value right after a disaster by enabling the self-organization of victims and a better coordination with first rescue organizations. Eventually, we will conclude with the main challenges still to overcome and provide directions for future research in this emerging field from protocol and system design to security and data privacy. We will stress the need for cross-disciplinary approaches to better understand the psychology of distressed victims and their interaction with innovative communication technologies.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115066020","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The performance of most urban cellular networks is limited by inter-cell interference. This is particularly true of a cellular network with heterogeneous infrastructure, wherein the same spectrum is shared by different types of base-stations such as macro-cells, pico-cells, femto-cells and relays. Performance of such dense/heterogeneous deployments may be greatly enhanced through the use of smart association techniques, coupled with adaptive interference management. Unlike traditional cellular systems where association is predominantly based on maximizing signal quality between the base-station and the user, a smart association scheme in a heterogeneous network should be based on several additional criteria such as aggressive load-balancing, path-loss minimization, or minimization of interference to other links. Aggressive load-balancing (in particular) requires advanced interference management, which can may be realized through (soft) resource partitioning, beam-coordination or joint signal processing at the base-stations. Multi-cell signal processing (or distributed MIMO) can be used in homogeneous networks as well, in order to mitigate inter-cell interference without compromising degrees of freedom associated with the transmit signals. In this tutorial, we demonstrate how these techniques may be incorporated into the design of a cellular system, and the performance gains resulting from such a system design.
{"title":"Heterogeneity and multi-cell cooperation in wireless cellular networks","authors":"N. Sindhushayana","doi":"10.1145/2185216.2185218","DOIUrl":"https://doi.org/10.1145/2185216.2185218","url":null,"abstract":"The performance of most urban cellular networks is limited by inter-cell interference. This is particularly true of a cellular network with heterogeneous infrastructure, wherein the same spectrum is shared by different types of base-stations such as macro-cells, pico-cells, femto-cells and relays. Performance of such dense/heterogeneous deployments may be greatly enhanced through the use of smart association techniques, coupled with adaptive interference management. Unlike traditional cellular systems where association is predominantly based on maximizing signal quality between the base-station and the user, a smart association scheme in a heterogeneous network should be based on several additional criteria such as aggressive load-balancing, path-loss minimization, or minimization of interference to other links. Aggressive load-balancing (in particular) requires advanced interference management, which can may be realized through (soft) resource partitioning, beam-coordination or joint signal processing at the base-stations. Multi-cell signal processing (or distributed MIMO) can be used in homogeneous networks as well, in order to mitigate inter-cell interference without compromising degrees of freedom associated with the transmit signals. In this tutorial, we demonstrate how these techniques may be incorporated into the design of a cellular system, and the performance gains resulting from such a system design.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115482030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We apply a new type of algorithm for sensor data fusion that was originally developed for estimation of business indicators. The origin of the MCMC algorithm SamPro is the consideration of uncertainty in business indicators, such as profit, sales, and cost, which results from measurement errors or forecasting. Furthermore, the SamPro algorithm uses model-based redundancy to generate virtual measurements; it is able to cope with and can reduce uncertainty of metrical data, including different and even nonparametric data distributions. In this paper, we present an adaptation of the algorithm focused on (distributed) sensor measurements. In such scenarios, the information redundancy bases on multi-modal sensors. Those results can be fused directly or after model based transformations. We validate our approach in a localization scenario fusing laser distance measurements, camera images, and on-board odometry to estimate the current position of a mobile robot. For this purpose we utilize sensor models for each sensor, including specific sensor faults and noise behavior, to generate and fuse virtual sensor measurement.
{"title":"Business-management-inspired sensor data fusion","authors":"V. Köppen, Maik Mory, André Dietrich, S. Zug","doi":"10.1145/2185216.2185271","DOIUrl":"https://doi.org/10.1145/2185216.2185271","url":null,"abstract":"We apply a new type of algorithm for sensor data fusion that was originally developed for estimation of business indicators. The origin of the MCMC algorithm SamPro is the consideration of uncertainty in business indicators, such as profit, sales, and cost, which results from measurement errors or forecasting. Furthermore, the SamPro algorithm uses model-based redundancy to generate virtual measurements; it is able to cope with and can reduce uncertainty of metrical data, including different and even nonparametric data distributions. In this paper, we present an adaptation of the algorithm focused on (distributed) sensor measurements. In such scenarios, the information redundancy bases on multi-modal sensors. Those results can be fused directly or after model based transformations. We validate our approach in a localization scenario fusing laser distance measurements, camera images, and on-board odometry to estimate the current position of a mobile robot. For this purpose we utilize sensor models for each sensor, including specific sensor faults and noise behavior, to generate and fuse virtual sensor measurement.","PeriodicalId":180836,"journal":{"name":"International Conference on Wireless Technologies for Humanitarian Relief","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130092354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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