Fuzzy matching of visual cues in an unmanned airborne vehicle
Linköping University, Department of Electrical Engineering, Computer Vision
Linköping University, The Institute of Technology
Report (Other academic)
Place of publ.:
Linköping University, Department of Electrical Engineering
Engineering and Technology
Computer vision systems used in autonomous mobile vehicles are typically linked to higher-level deliberation processes. One important aspect of this link is how to connect, or anchor, the symbols used at the higher level to the objects in the vision system that these symbols refer to. Anchoring is complicated by the fact that the vision data are inherently affected by uncertainty. We propose an anchoring technique that uses fuzzy sets to represent the uncertainty in the perceptual data. We show examples where this technique allows a deliberative system to reason about the objects (cars) detected by a vision system embarked in an unmanned helicopter, in the framework of the Witas project.