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Modeling a Sensor to Improve Its Efficacy
Joint Authors
Knuth, Kevin H.
Gladkov, Daniil
Malakar, Nabin K.
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-07-17
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Robots rely on sensors to provide them with information about their surroundings.
However, high-quality sensors can be extremely expensive and cost-prohibitive.
Thus many robotic systems must make due with lower-quality sensors.
Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework.
As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field.
The light sensor integrates the light arriving from a spatially distributed region within its field of view weighted by its spatial sensitivity function (SSF).
We demonstrate that by incorporating an accurate model of the light sensor SSF into the likelihood function of a Bayesian inference engine, an autonomous system can make improved inferences about its surroundings.
The method presented here is data based, fairly general, and made with plug-and-play in mind so that it could be implemented in similar problems.
American Psychological Association (APA)
Malakar, Nabin K.& Gladkov, Daniil& Knuth, Kevin H.. 2013. Modeling a Sensor to Improve Its Efficacy. Journal of Sensors،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-474969
Modern Language Association (MLA)
Malakar, Nabin K.…[et al.]. Modeling a Sensor to Improve Its Efficacy. Journal of Sensors No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-474969
American Medical Association (AMA)
Malakar, Nabin K.& Gladkov, Daniil& Knuth, Kevin H.. Modeling a Sensor to Improve Its Efficacy. Journal of Sensors. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-474969
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-474969