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It's always smelly around here! Modeling the Spatial Distribution of Gas Detection Events with BASED Grid Maps
Örebro University, School of Science and Technology. (AASS Research Centre, Mobile Robotics and Olfaction Lab)ORCID iD: 0000-0003-0217-9326
Örebro University, School of Science and Technology. (AASS Research Centre, Mobile Robotics and Olfaction Lab)ORCID iD: 0000-0003-0195-2102
Örebro University, School of Science and Technology. (AASS Research Centre, Mobile Robotics and Olfaction Lab)
2013 (English)In: Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013), 2013Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we introduce a novel gas distribution mapping algorithm, Bayesian Spatial Event Distribution (BASED), that, instead of modeling the spatial distribution of the gas concentration, models the spatial distribution of events of detection and non-detection of a target gas. The proposed algorithm is based on the Bayesian inference framework and models the likelihood of events at a certain location with a Bernoulli distribution. In order to avoid overfitting a Bayesian approach is used with a beta distribution prior for the parameter u that governs the Bernoulli distribution. In this way, the posterior distribution maintains the same form of the prior, i.e. will be a beta distribution, enabling a simple approach for sequential learning. To learn a field of beta distributions, we discretize the inspection area into a grid map and extrapolate from local measurements using Gaussian kernels. We demonstrate the proposed algorithm for different sensors mounted on a mobile robot and show how qualitatively similar maps are obtained from very different gas sensors.

Place, publisher, year, edition, pages
2013.
Keyword [en]
Gas Distribution Mapping, Bayesian Statistical Modeling, Beta Distribution
National Category
Robotics
Research subject
Computer Engineering
Identifiers
URN: urn:nbn:se:oru:diva-30715OAI: oai:DiVA.org:oru-30715DiVA: diva2:646005
Conference
15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013)
Available from: 2013-09-06 Created: 2013-09-06 Last updated: 2017-10-17Bibliographically approved

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Lilienthal, Achim J.Trincavelli, MarcoSchaffernicht, Erik
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