On a Criterion for Minimum Uncertainty Sensing

TitleOn a Criterion for Minimum Uncertainty Sensing
Publication TypeTechnical Report
Year of Publication1993
AuthorsCaglioti, V..
Other Numbers841

A criterion is presented for the automatic selection of a sensor detection aimed at observing the state of a system, which is described both by discrete variable and by continuous ones. The criterion is based on the expected value of the entropy variation relative to the transition associated to the sensor observation. This criterion is then applied to object recognition and localization tasks, in which the observed system is described by object class (i.e., a discrete variable) and by the object position (i.e. a vector of continuous parameters). The proposed criterion allows to account for the information obtained in the case the observed object is missed by the measurement. Finally, a simple example is discussed concerning an observed system constituted by an object. The state of the observed system is described in terms of the object identity and the object position and orientation parameters. The sensors used to observe the system are an orientable range finder and a mobile camera.

Bibliographic Notes

ICSI Technical Report TR-93-053

Abbreviated Authors

V. Caglioti

ICSI Publication Type

Technical Report