Title :
Optimal sensor placement
Author_Institution :
Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
Abstract :
The author defines the problem of optimal sensor placement in two-dimensional space to address the issue of choosing a configuration of multiple sensors to minimize the uncertainty in the consensus estimate obtained by combining the sensor measurements. The algebraic structure of sensor errors with respect to sensor placement is studied, and a necessary condition for the optimal placement is derived. The solution to the problem is obtained by comparing sensor configurations that satisfy the necessary condition. The method does not assume specific sensor modality and is applicable to sensors of any type that are capable of providing position information
Keywords :
image sensors; optimisation; sensor fusion; 2D space; algebraic structure; image sensors; necessary condition; optimal sensor placement; sensor fusion; Cameras; Data mining; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Uncertainty;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219962
