Abstract
An active sensing method for sensor fusion systems with sensors and actuators is proposed. To realize active sensing with multi-sensors, (1) where to move sensors, (2) how to associate data and (3) how to fuse data should be solved. Authors propose a new method mainly concerning (1) . The method utilizes estimated errors of estimated values to determine sensor locations where useful data can be obtained and data can be effectively associated. An algorithm to calculate nearly optimal sensor locations, instead of optimal locations, is also proposed to reduce calculation. To provide examples, the active sensing method is applied to target tracking by a system with two handeye cameras on manipulators and vision and touch fusion by a system with a camera and a tactile sensor. By using this method, sensing strategy is constructed according to what to be measured.
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