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Two probabilistic models are used to describe outdoor environment features such as trees: geometric (position in the world) and visual. The visual representation is used to improve data association and to classify features. Both models are able to incorporate observations from robotic platforms and human operators. Physically, humans and robots form a heterogeneous sensor network. In our experiments, the human\u2010robot team consists of an unmanned air vehicle, a ground vehicle, and two human operators. They are deployed for an information gathering task and perform information fusion cooperatively. All aspects of the system including the fusion algorithms are fully decentralized. Experimental results are presented in form of the acquired multi\u2010attribute feature map, information exchange patterns demonstrating human\u2010robot information fusion, and quantitative model evaluation. Learned lessons from deploying the system in the field are also presented. \u00a9 2007 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20201","type":"journal-article","created":{"date-parts":[[2007,11,12]],"date-time":"2007-11-12T15:17:28Z","timestamp":1194880648000},"page":"911-942","source":"Crossref","is-referenced-by-count":25,"title":["Shared environment representation for a human\u2010robot team performing information fusion"],"prefix":"10.1002","volume":"24","author":[{"given":"Tobias","family":"Kaupp","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bertrand","family":"Douillard","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fabio","family":"Ramos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexei","family":"Makarenko","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ben","family":"Upcroft","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,11,12]]},"reference":[{"key":"e_1_2_1_2_1","doi-asserted-by":"crossref","unstructured":"Bailey T. 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