Sensor Dependency Tree (continued)
The leave nodes of the tree are the information sources such as laser radar with parameters (none, LR, NONE, aoiall, ioiall, 0, (1,1)). The intermediate nodes of the tree are the objects to be recognized such as a tank with parameters (tank, LR, recog315, aoiall, ioiall, 10, (0.3, 0.5)).
The root node of the tree is the result of information fusion, for example, a node with parameters (tank, ALL, fusion7, aoiall, ioiall, 2000, (0,1)) where the parameter ALL indicates that information is drawn from all the sources.
Query processing is accomplished by the repeated computation and updates of the sensor dependency tree. In each iteration, one or more nodes are selected for computation. The selected nodes must not be dependent on any other nodes. After the computation, one ore more nodes are removed from sensor dependency tree. The process iterates.