A framework for dynamic sensory substitution

In this paper we present a framework for dynamic substitution of different sensory modalities with existing physical sensors. Our system is capable of finding the most optimal set of mathematical and physical transformations between two modalities of physical and virtual sensors. It allows a creation of new virtual sensors from given set of physical sensors. The virtual sensing may extend to new sensing modalities for which no direct physical sensors exist. The framework optimizes for a minimal error and optimal observation in the resulting fusion. It is processing the chain for a given spatial measurement and measurement range. The framework is capable of increasing the reliability of acquired data in multi-sensor systems by being able to asses the amount of accumulated errors. We give two examples of real-world applications of this framework in robotic environments.