An Evidence Hierarchy for Bayesian Object Classification via OSINT-Aided Heterogeneous Sensor Fusion

Published August 4, 2026 · Category: Robotics

Overview

arXiv:2605.22259v2 Announce Type: replace-cross Abstract: Heterogeneous sensor fusion is vital for detecting, localizing, and classifying CBRNE threats. However, individual sensors are often only capable of detecting a subset of relevant threats with varying reliability or can even provide only indirect threat indications, making threat classification challenging. Furthermore, high clutter rates on the sensor side present a great challenge for fusion systems. Additionally, the limited availability of high quality datasets hinders the advancement of learning-based detection and classification models in smart sensors. To mitigate these sensor related shortcomings, a context-aware and domain knowledge-enhanced fusion process is proposed. First, a novel evidence hierarchy is established that enables modeling of direct, indicative, and contextual information. Second, contextual information about the environment is introduced into the fusion process, by collecting, processing, and exploiting OSINT inputs. Third, all levels of the evidence hierarchy are used to craft a Bayesian threat type classification mechanism with domain knowledge-informed priors. The proposed methodology is evaluated in simulated scenarios, and the results demonstrate the benefit of the proposed fusion approach in terms of robustness to clutter and prior mismatch, with an overall classification accuracy of up to 95%.

Source

Originally published at arxiv.org.

Related Articles

• ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
• Hermite Curves as Trajectory Priors for Vision-Language-Action Models
• ProtoAct: Turning Wet-Lab Protocols into Embodied Robotic Actions