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Optimal sensor placement in range based localization for linear arrays
conference contribution
posted on 2012-01-01, 00:00 authored by Sanvidha Herath, Pubudu PathiranaPubudu Pathirana, Gareth WilliamsThis paper investigates the linear separation requirements for range sensors in order to achieve the optimal performance in estimating the position of a target from multiple and typically noisy sensor measurements. We analyze the sensor-target geometry in terms of the Cramer-Rao inequality and the corresponding Fisher information matrix, in order to characterize localization performance with respect to the linear special distribution.
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Event
IEEE Robotics and Biomimetics. Conference (9th : 2012 : Guangzhou, China)Pagination
2225 - 2230Publisher
IEEELocation
Guangzhou, ChinaPlace of publication
Piscataway, N.J.Start date
2013-12-11End date
2013-12-14ISBN-13
9781467321273ISBN-10
1467321273Language
engPublication classification
E1 Full written paper - refereedTitle of proceedings
ROBIO 2012 : Proceedings of the IEEE International Conference on Robotics and BiomimeticsUsage metrics
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