A universal knowledge-based imaging system for hazardous environments (UKIS)

This paper describes the development of an intelligent imaging system (UKIS) to be used in hazardous or disordered environments. The main purpose of this system is to build a 3D map of the environment using observations of multiple sensors to increase system performance (i.e. resolution, accuracy) and reduce uncertainty. Imaging in UKIS will be based on sensor data fusion in combination with sensor specific and environmental knowledge. Such knowledge can range from the characteristics of the sensors, the algorithms used to a complete blueprint of the environment. This paper describes the main ideas that are used for the development of such a system. Concepts like logical sensors, multi-sensor fusion, world modeling and knowledge-based systems are integrated for the development of an intelligent sensing system