Title
Asynchronous, electromagnetic sensor fusion in RatSLAM Asynchronous, electromagnetic sensor fusion in RatSLAM
Author
Faculty/Department
Faculty of Applied Economics
Faculty of Sciences. Mathematics and Computer Science
Faculty of Applied Engineering Sciences
Publication type
conferenceObject
Publication
New york :Ieee ,
Subject
Physics
Engineering sciences. Technology
Source (journal)
2015 IEEE SENSORS
Source (book)
2015 IEEE SENSORS, NOV 01-04, 2015, Busan, SOUTH AFRICA
Volume/pages
(2015) , p. 1465-1468
ISSN
1930-0395
1930-0395
ISBN
978-1-4799-8203-5
ISI
000380440800382
Carrier
E
Target language
English (eng)
Affiliation
University of Antwerp
Abstract
We show the predictive value of the mean mutual information rate about the RatSLAM algorithm for electromagnetic sensors and their combinations. We calculated the mean mutual information between positions in the environment and sensor measurements performed at a specific position in the environment and defined the mean mutual information rate depending on the sensor's measurement rate. We compare these results to RatSLAM experience maps generated using these sensors and sensor combinations and define a mean error to quantify the spatial quality of the experience map. We conclude that the mean mutual information rate generally predicts the performance correctly, but also find and explain discrepancies in specific cases.
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