Statistical Sensor Fusion

Fredrik Gustafsson

Studentlitteratur, 2010 and 2012

Sensor fusion deals with merging information from two or more sensors, where the area of statistical signal processing provides a powerful toolbox to attack both theoretical and practical problems.

The objective of this book is to explain state of the art theory and algorithms in statistical sensor fusion, covering estimation, detection and nonlinear filtering theory with applications to localization, navigation and tracking problems. The book starts with a review of the theory on linear and nonlinear estimation, with a focus on sensor network applications. Then, general nonlinear filter theory is surveyed, with a particular attention to different variants of the Kalman filter and the particle filter. Complexity and implementation issues are discussed in detail. Simultaneous localization and mapping (SLAM) is used as a challenging application area of high-dimensional nonlinear filtering problems.

The book spans the whole range from mathematical foundations provided in extensive appendices, to real-world problems covered in a part surveying standard sensors, motion models and applications in this field. All models and algorithms are available as object-oriented Matlab code with an extensive data file library, and the examples, which are richly used to illustrate the theory, are supplemented by fully reproducible Matlab code.

All algorithms and examples in the book are available in the Matlab Toolbox Signals and Systems Lab. There is a separate excercise compendium with more than 100 worked out examples.

New edition 2012. The new edition is basically a corrected version of the 2010 edition. The 2010 errata list includes the most important changes. However, there are some new formatting and explanation that distroyed the original page numbering, thus it has to be seen as a new edition. Fredrik Gustafsson is professor in sensor informatics at Linköping University. He has during the past 15 years managed a wide range of sensor fusion projects, both theoretical and applied with close industrial cooperation. During this time, he has supervised 15 PhD students and 150 MSc students. His group at Linköping University consists of more than 15 people engaged in sensor fusion research.

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Contact the author:
Fredrik Gustafsson