Preface                                            vii  Introduction                                     1   Introduction to Multisensor Integration          17   Multisensor Data Fusion                          25   Multisensor Fusion in Object Recognition         43   Minimal Representation                           57   Environment and Sensor Models                    75   Minimal Representation Multisensor Fusion and    91   Model Selection   Multisensor Fusion Search Algorithms             125   Applying the Abstract Framework to Concrete      151   Problems   Multisensor Object Recognition in Two            155   Dimensions   Multisensor Object Recognition in Three          173   Dimensions   Laboratory Experiments                           203   Discussion of Experimental Results               225   Conclusion                                       237 Appendix A List of Symbols                         247 Appendix B Object-Oriented Software Architecture   251 Appendix C Error Residuals                         257 Appendix D Mixture Distributions                   259 Appendix E Properties of Mixture Representation    263 Size Appendix F Computing Two-Dimensional Pose from     267 Vision and Touch Data Appendix G Computing Three-Dimensional Pose        271 from Grasp Data Appendix H Quaternion Algebra                      275 Appendix I Computing Three-Dimensional Pose        279 from Vision and Touch Data Bibliography                                       291 Index                                              306