Multisensor Knowledge Systems

Abstract

We describe an approach which facilitates and makes explicit the organization of the knowledge necessary to map multi sensor system requirements onto an appropriate assembly of algorithms, processors, sensors, and actuators. We have previously introduced the multisensor kernel system and logi cal sensor specifications as a means for high-level specifi cation of multisensor systems. The main goals of such a characterization are to develop a coherent treatment of multi sensor information, to allow system reconfiguration for both fault tolerance and dynamic response to environmental con ditions, and to permit the explicit description of control. In this paper we show how logical sensors can be incorpo rated into an object-based approach for the interpretation of 3D structure. Considering the inherent difficulties in inter preting general configurations of lines in space, and consider ing the ubiquitousness of special line configurations in manu factured environments and objects, we advocate the use of computational units tuned to the occurrence of special config urations. The organized use of these units circumvents the inherent difficulties in interpreting general configurations of lines. After a brief examination of the problem of interpreting general configurations of lines in space, a number of compu tational units are proposed which are naturally derived from angular relations. The process of propagation (which allows interpretation to spread over the image) is also advocated. Such computational units and processes, which are simple and efficient, can be conveniently organized in a rule-based framework where the occurrence of the various special config urations can be tested. The multisensor knowledge system provides such a framework.