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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 Res Ctr, SE-70182 Orebro, Sweden)
Örebro University, School of Science and Technology. (AASS Res Ctr, SE-70182 Orebro, Sweden)ORCID iD: 0000-0003-0217-9326
2009 (English)In: 2009 IEEE SENSORS, VOLS 1-3, NEW YORK: IEEE conference proceedings, 2009, p. 1715-1720Chapter in book (Other academic)
Abstract [en]

In this paper we introduce a statistical method to build two-dimensional gas distribution maps (Kernel DM+V/W algorithm). In addition to gas sensor measurements, the proposed method also takes into account wind information by modeling the information content of the gas sensor measurements as a bivariate Gaussian kernel whose shape depends on the measured wind vector. We evaluate the method based on real measurements in an outdoor environment obtained with a mobile robot that was equipped with gas sensors and an ultrasonic anemometer for wind measurements. As a measure of the model quality we compute how well unseen measurements are predicted in terms of the data likelihood. The initial results are encouraging and show a clear improvement of the proposed method compared to the case where wind is not considered.

Place, publisher, year, edition, pages
NEW YORK: IEEE conference proceedings, 2009. p. 1715-1720
Series
2009 IEEE SENSORS, VOLS 1-3
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Electrical Engineering; Electronics
Identifiers
URN: urn:nbn:se:oru:diva-28303DOI: 10.1109/ICSENS.2009.5398498ISI: 000279891700375Scopus ID: 2-s2.0-77951122158ISBN: 978-1-4244-4548-6 (print)OAI: oai:DiVA.org:oru-28303DiVA, id: diva2:613834
Available from: 2013-04-02 Created: 2013-03-14 Last updated: 2017-10-18Bibliographically approved

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Reggente, MatteoLilienthal, Achim J.

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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