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Sensor Data Integrity and Mitigation of Perceptual Failures
Annual rept. May 2011-May 2012
SYDNEY UNIV (AUSTRALIA) AUSTRALIAN CENTER FOR FIELD ROBOTICS
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This report describes basic research to analyze and investigate methods for automatic detection and mitigation of sensor and perception data. Specifically, the PI will investigate 1 Metrics for sensor performance in context using multi-modal redundancy and information theoretic approaches 2 Detection, localization and mitigation of faults and failures using hierarchical causal reasoning for diagnosis 3 Develop methods for using low-level e.g., sensor data fusion filter versus high-level autonomous inference processes for automated selection of data to use for perception.
APPROVED FOR PUBLIC RELEASE