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Using local wind information for gas distribution mapping in outdoor environments with a mobile robot
Örebro University, School of Science and Technology. (AASS Learning Systems Lab)
Örebro University, School of Science and Technology. (AASS Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
2009 (English)In: IEEE sensors, vols 1-3, New York: IEEE conference proceedings, 2009, p. 1637-1642Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we introduce a statistical method tobuild two-dimensional gas distribution maps (Kernel DM+V/Walgorithm). In addition to gas sensor measurements, the proposedmethod also takes into account wind information by modelingthe information content of the gas sensor measurements as abivariate Gaussian kernel whose shape depends on the measuredwind vector. We evaluate the method based on real measurementsin an outdoor environment obtained with a mobile robot thatwas equipped with gas sensors and an ultrasonic anemometerfor wind measurements. As a measure of the model quality wecompute how well unseen measurements are predicted in termsof the data likelihood. The initial results are encouraging andshow a clear improvement of the proposed method compared tothe case where wind is not considered.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2009. p. 1637-1642
National Category
Engineering and Technology Other Computer and Information Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-8434DOI: 0.1109/ICSENS.2009.5398498ISBN: 978-1-4244-4548-6 (print)OAI: oai:DiVA.org:oru-8434DiVA, id: diva2:274849
Conference
8th IEEE Conference on Sensors, Christchurch, New Zealand, Oct 25-28, 2009
Projects
EU FP6 DustbotEU FP7 DiademAvailable from: 2009-11-09 Created: 2009-11-02 Last updated: 2018-01-12Bibliographically approved

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Reggente, MatteoLilienthal, Achim J.

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf