An entropic criterion for minimum uncertainty sensing in recognition and localization. II. A case study on directional distance measurements

Author

Caglioti, Vincenzo

Author_Institution

Dipt. di Elettronica e Inf., Politecnico di Milano, Italy

Volume

31

Issue

2

fYear

2001

fDate

4/1/2001 12:00:00 AM

Firstpage

197

Lastpage

214

Abstract

For pt. 1 see ibid. An entropic criterion for minimum uncertainty sensing, introduced in the companion paper, is applied to a case study related to the localization and recognition of a polygonal object by means of an orientable range finder. The observed object is characterized by two different uncertain parameters: the pose (position and orientation) of the object and its identity. A priori, only partial information is available both on the object identity and on its pose. Additional information about the observed object is acquired by the orientable range finder activated according to the above criterion

Keywords

object recognition; sensor fusion; directional distance measurements; localization; minimum uncertainty sensing; observed object; range finder; recognition; Distance measurement; Measurement uncertainty; Object recognition; Probability density function; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; State estimation;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.915343

Filename

915343