Gaussian processes for multi-sensor environmental monitoring

Efficiently monitoring environmental conditions across large indoor spaces (such as warehouses, factories or data centers) is an important problem with many applications. Deployment of a sensor network across the space can provide very precise readings at discrete locations. However, construction of a continuous model from this discrete sensor data is a challenge. The challenge is made harder by economic and logistical constraints that may limit the number of sensor motes in the network. The required model, therefore, must be able to interpolate sparse data and give accurate predictions at unsensed locations, as well as provide some notion of the uncertainty on those predictions. We propose a Gaussian process based model to answer both of these issues. We use Gaussian processes to model temperature and humidity distributions across an indoor space as functions of a 3-dimensional point. We study the model selection process and show that good results can be obtained, even with sparse sensor data. Deployment of a sensor network across an indoor lab provides real-world data that we use to construct an environmental model of the lab space. We seek to refine the model obtained from the initial deployment by using the uncertainty estimates provided by the Gaussian process methodology to modify sensor distribution such that each sensor is most advantageously placed. We explore multiple sensor placement techniques and experimentally validate a near-optimal criterion.