“…Although there have been a significant amount of research efforts reported during the past twenty years, fusion of multi-sensor data is still a challenging problem [8,9,17]. Currently, the commonly used methods such as Kalman filter [1,2,15,16], Bayesian reasoning [3,12,19] and fuzzy logic theory [13,14,18] suffer from their own limitations in achieving optimal fusion. Such limitations include the dependence on a conditional probability distribution or fuzzy membership function, the unacceptable fusion result when observational evidences highly conflict with each other, the low real-time performance due to the use of too many state variables, and the low efficiency for fusion of multi-sensor information [8,10,11].…”