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A Kalman Filter Bas...
A Kalman Filter Based Approach To Probabilistic Gas Distribution Mapping
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- Blanco, Jose Luis (författare)
- University of Màlaga, Màlaga, Spain
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- Monroy, Javier G. (författare)
- University of Màlaga, Màlaga, Spain
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- Gonzalez-Jimenez, Javier (författare)
- University of Màlaga, Màlaga, Spain
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- Lilienthal, Achim J. (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,( AASS ) MRO Lab
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(creator_code:org_t)
- 2013-03-18
- 2013
- Engelska.
- Relaterad länk:
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https://oru.diva-por... (primary) (Raw object)
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http://oru.diva-port...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Building a model of gas concentrations has important indus-trial and environmental applications, and mobile robots ontheir own or in cooperation with stationary sensors play animportant role in this task. Since an exact analytical de-scription of turbulent flow remains an intractable problem,we propose an approximate approach which not only esti-mates the concentrations but also their variances for eachlocation. Our point of view is that of sequential Bayesianestimation given a lattice of 2D cells treated as hidden vari-ables. We first discuss how a simple Kalman filter pro-vides a solution to the estimation problem. To overcomethe quadratic computational complexity with the mappedarea exhibited by a straighforward application of Kalmanfiltering, we introduce a sparse implementation which runsin constant time. Experimental results for a real robot vali-date the proposed method.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Kalman Filter
- Gas Distribution Mapping
- Mobile Olfaction
- Computer Science
- Datavetenskap
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)