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2008
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Approximating information content for active sensing tasks using the unscented transform

10 years 3 months ago
Approximating information content for active sensing tasks using the unscented transform
— This paper presents an approach to approximate information content for active sensing tasks. The Unscented Transform is used to represent probability distributions by a set of representative sample points that capture the first and second moments of the distribution. Using these sample points, the effects of nonlinear operators on a probability distribution of active sensing costs can be approximated. Simulation results validate the approximation for bearings-only geolocalization of a stationary target and tracking of an uncertain moving target.
Eric W. Frew
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Eric W. Frew
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