Document Type



Computer Engineering | Robotics


In this paper, we evaluate the use of a rank-score diversity measure for selecting sensory fusion operations for a robot localization and mapping application. Our current application involves robot mapping and navigation in an outdoor urban search and rescue situation in which we have many similar and mutually occluding landmarks. The robot is a 4- wheel direct drive platform equipped with visual, stereo depth and ultrasound sensors. In such an application it’s difficult to make useful and realistic assumptions about the sensor or environment statistics. Combinatorial Fusion Analysis(CFA) is used to develop an approach to fusion with unknown sensor and environment statistics. A metric is proposed that will indicate when fusion from a set of fusion alternatives will produce a more accurate estimation of depth than either sonar or stereo alone and when not. Experimental results are reported to illustrate that two CFA criteria are viable predictors to distinguish between positive fusion cases (the combined system performs better than or equal to the individual systems) and negative cases.

Article Number


Publication Date



SPIE Defense and Security Symposium, 9-13 April 2007, Orlando (Kissimmee), FL

This research was conducted at the Fordham University Robotics and Computer Vision Lab. For more information about graduate programs in Computer Science, see, and the Fordham University Graduate School of Arts and Sciences, see

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Robotics Commons