Using local wind information for gas distribution mapping in outdoor environments with a mobile robot

Matteo Reggente, Achim J. Lilienthal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

58 Scopus citations

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.

Original languageEnglish
Title of host publicationIEEE Sensors 2009 Conference - SENSORS 2009
Pages1715-1720
Number of pages6
DOIs
StatePublished - 2009
Externally publishedYes
EventIEEE Sensors 2009 Conference - SENSORS 2009 - Christchurch, New Zealand
Duration: 25 Oct 200928 Oct 2009

Publication series

NameProceedings of IEEE Sensors

Conference

ConferenceIEEE Sensors 2009 Conference - SENSORS 2009
Country/TerritoryNew Zealand
CityChristchurch
Period25/10/0928/10/09

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