Matteo Reggente and Achim J. Lilienthal
Statistical Evaluation of the Kernel DM+V/W Algorithm for Building Gas Distribution Maps in Uncontrolled Environments
Proceedings of Eurosensors XXIII conference, 2009, pp. 481-484
Abstract: In this paper we present a statistical evaluation of the Kernel DM+V/W algorithm to build two-dimensional gas distribution maps with a mobile robot. In addition to gas sensor measurements from an "e-nose" the Kernel DM+V/W algorithm also takes into account wind information received from an ultrasonic anemometer. We evaluate the method based on real measurements in three uncontrolled environments with very different properties. As a measure for the model quality we compute how well unseen measurements are predicted in terms of the data likelihood. A paired Wilcoxon signed rank test shows a significant improvement (at a confidence level of 95%) of the model quality when using wind information.
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Bibtex:
@INPROCEEDINGS{Reggente_Lilienthal:Eurosensors:2009,
  author = {Reggente, Matteo and Lilienthal, Achim J.},
  title = {Statistical Evaluation of the Kernel DM+V/W Algorithm for Building Gas Distribution Maps in Uncontrolled Environments},
  booktitle = {Procedia Chemistry},
  year = {2009},
  pages = {481--484},
  volume = {1},
  number = {1}
}