Matteo Reggente and Achim J. Lilienthal
Using Local Wind Information for Gas Distribution Mapping in Outdoor Environments with a Mobile Robot
Proceedings of IEEE Sensors, 2009, pp. 1715-1720
Abstract: 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.
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Bibtex:
@INPROCEEDINGS{Reggente_Lilienthal:IEEESensors:2009,
  author = {Reggente, Matteo and Lilienthal, Achim J.},
  title = {Using Local Wind Information for Gas Distribution Mapping in Outdoor Environments with a Mobile Robot},
  booktitle = {Proceedings of IEEE Sensors},
  year = {2009},
  DATE = {October 25--28},
  ADRESS = {Christchurch, Canterbury, New Zealand},
  pages = {1715-1720}
}