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Field and Service Robotics - Corke P. and Sukkarieh S.(Eds) Part 4

Tham khảo tài liệu 'field and service robotics - corke p. and sukkarieh s.(eds) part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Development of Angular Characterisation 113 The consistency model is described by an Hc matrix equivalent to equation 4. This matrix is formed by iterating through each of the graph edges of the mesh structure where each edge yields one row of Hc. For each edge where the edge is between nodes i and j H crow i H ncrow j 8 - I The consistency model observation becomes an addition to Y as in equation 5. 5.4 Two Dimensional Angular Profiles Demonstration Figure 5 shows a demonstration of angular profiles from our flight vehicle and ground vehicle. The patterned cylinder object was characterised according to the metric area of the object as viewed from the air or ground borne image sensor. This is a preliminary observable for demonstration of the estimation structure. Figure 5 d shows the separate contributions from the air and ground vehicle which are separate due simply to their differing angles of elevation. The fusion of information from air and ground is simplified by the use of angular profiles because they allow explicit differences in value at viewing angles. Hence it is not required that features be absolutely identical from air and ground. Figures 5 a and 5 b are shown at the same orientation. The peaks in profile information correspond to the groups of observation points where multiple observations have been fused. Regions without observations take on an estimate obtained through the network of consistency models causing those regions to have non-zero information. 5.5 Information Theoretic Properties of Two Dimensional Angular Profiles One application of angular profiles is in causing information theoretic control schemes 10 to explore multiple viewing angles of point features in addition to spatial exploration over multiple features . This section describes the properties of the determinants of the information matrices of angular profiles. The entropic information i of an n-dimensional Gaussian variable with Fisher information Y and the mutual information I