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Improving Gas Tomography With Mobile Robots: An Evaluation of Sensing Geometries in Complex Environments
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-5973-7424
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-1662-0960
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5061-5474
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-4026-7490
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2017 (English)In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, 2017, 7968895Conference paper, Published paper (Refereed)
Abstract [en]

An accurate model of gas emissions is of high importance in several real-world applications related to monitoring and surveillance. Gas tomography is a non-intrusive optical method to estimate the spatial distribution of gas concentrations using remote sensors. The choice of sensing geometry, which is the arrangement of sensing positions to perform gas tomography, directly affects the reconstruction quality of the obtained gas distribution maps. In this paper, we present an investigation of criteria that allow to determine suitable sensing geometries for gas tomography. We consider an actuated remote gas sensor installed on a mobile robot, and evaluated a large number of sensing configurations. Experiments in complex settings were conducted using a state-of-the-art CFD-based filament gas dispersal simulator. Our quantitative comparison yields preferred sensing geometries for sensor planning, which allows to better reconstruct gas distributions.

Place, publisher, year, edition, pages
2017. 7968895
National Category
Computer Science Robotics
Identifiers
URN: urn:nbn:se:oru:diva-60646DOI: 10.1109/ISOEN.2017.7968895ISBN: 978-1-5090-2392-9 (electronic)ISBN: 978-1-5090-2393-6 (print)OAI: oai:DiVA.org:oru-60646DiVA: diva2:1139140
Conference
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal QC, Canada
Available from: 2017-09-06 Created: 2017-09-06 Last updated: 2017-09-12Bibliographically approved

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Arain, Muhammad AsifFan, HanHernandez Bennetts, VictorSchaffernicht, ErikLilienthal, Achim J.
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CiteExportLink to record
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Citation style
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