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The algorithm was realized through the two new types of sensor modules, which are composed of a halogen lamp-based active vision sensor and a semicircular ultrasonic (US) and infrared (IR) sensor system. In the first-level fusion, the US and IR sensor information is utilized in terms of the geometric characteristics of the sensor location. In the second-level fusion, the outputs from the US and IR sensors are combined with the sheet of halogen light through a proposed rule base. In the third-level fusion, local maps from the first- and second-level fusion are updated in a probabilistic way for a very accurate environment local map. A practical implementation has been carried out to demonstrate the efficiency and accuracy of the proposed hierarchical sensor fusion algorithm in environment map building.<\/jats:p>","DOI":"10.1017\/s026357470700392x","type":"journal-article","created":{"date-parts":[[2007,11,8]],"date-time":"2007-11-08T07:31:53Z","timestamp":1194507113000},"page":"307-322","source":"Crossref","is-referenced-by-count":0,"title":["Hierarchical sensor fusion for building a probabilistic local map using active sensor modules"],"prefix":"10.1017","volume":"26","author":[{"given":"Gon Woo","family":"Kim","sequence":"first","affiliation":[]},{"given":"Ji Min","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Nosan","family":"Kwak","sequence":"additional","affiliation":[]},{"given":"Beom Hee","family":"Lee","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"S026357470700392X_ref15","unstructured":"15. Kim G. 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