Name
Title | ||
|---|---|---|
Localizing Multiple Gas/Odor Sources In An Indoor Environment Using Bayesian Occupancy Grid Mapping |
Abstract | ||
|---|---|---|
This paper addresses the problem of autonomous localization of multiple gas or odor sources in an indoor environment with no strong airflow. In our approach, a robot iteratively builds an occupancy grid map [1], [2] from successive measurements of odor concentration. The resulting map shows the probability of each discrete cell in the map containing an active plume source. Our method is based on a recent adaptation of Bayesian occupancy grid mapping (OGM) to the chemical plume source localization problem [3]. We present experimental results that demonstrate the utility of the approach. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/IROS.2007.4399413 | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 |
Keywords | Field | DocType |
indoor monitoring, gas source localization, gas source mapping | Computer vision,Computer science,Odor,Iterative method,Airflow,Source localization,Artificial intelligence,Robot,Mobile robot,Occupancy grid mapping,Bayesian probability | Conference |
Citations | PageRank | References |
1 | 0.35 | 6 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gabriele Ferri | 1 | 124 | 18.75 |
| Michael V. Jakuba | 2 | 122 | 11.64 |
| Emanuele Caselli | 3 | 35 | 2.34 |
| Virgilio Mattoli | 4 | 115 | 13.41 |
| Barbara Mazzolai | 5 | 240 | 40.03 |
| Dana R. Yoerger | 6 | 168 | 39.57 |
| Paolo Dario | 7 | 2017 | 339.00 |