Dataset Information

Statistical Study of the Performance of Recursive Bayesian Filters with Abnormal Observations from Range Sensors.

ABSTRACT: Range sensors are currently present in countless applications related to perception of the environment. In mobile robots, these devices constitute a key part of the sensory apparatus and enable essential operations, that are often addressed by applying methods grounded on probabilistic frameworks such as Bayesian filters. Unfortunately, modern mobile robots have to navigate within challenging environments from the perspective of their sensory devices, getting abnormal observations (e.g., biased, missing, etc.) that may compromise these operations. Although there exist previous contributions that either address filtering performance or identification of abnormal sensory observations, they do not provide a complete treatment of both problems at once. In this work we present a statistical approach that allows us to study and quantify the impact of abnormal observations from range sensors on the performance of Bayesian filters. For that, we formulate the estimation problem from a generic perspective (abstracting from concrete implementations), analyse the main limitations of common robotics range sensors, and define the factors that potentially affect the filtering performance. Rigorous statistical methods are then applied to a set of simulated experiments devised to reproduce a diversity of situations. The obtained results, which we also validate in a real environment, provide novel and relevant conclusions on the effect of abnormal range observations in these filters.

SUBMITTER: Castellano-Quero M

PROVIDER: S-EPMC7436157 | biostudies-literature | 2020 Jul

REPOSITORIES: biostudies-literature

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Statistical Study of the Performance of Recursive Bayesian Filters with Abnormal Observations from Range Sensors.

Castellano-Quero Manuel M Fernández-Madrigal Juan-Antonio JA García-Cerezo Alfonso-José AJ

Sensors (Basel, Switzerland) 20200726 15

Range sensors are currently present in countless applications related to perception of the environment. In mobile robots, these devices constitute a key part of the sensory apparatus and enable essential operations, that are often addressed by applying methods grounded on probabilistic frameworks such as Bayesian filters. Unfortunately, modern mobile robots have to navigate within challenging environments from the perspective of their sensory devices, getting abnormal observations (e.g., biased, ...[more]

PMID: 32722646

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Project description:BackgroundInfectious disease surveillance is a process the product of which reflects both actual disease trends and public awareness of the disease. Decisions made by patients, health care providers, and public health professionals about seeking and providing health care and about reporting cases to health authorities are all influenced by the information environment, which changes constantly. Biases are therefore imbedded in surveillance systems; these biases need to be characterized to provide better situational awareness for decision-making purposes. Our goal is to develop a statistical framework to characterize influenza surveillance systems, particularly their correlation with the information environment.MethodsWe identified Hong Kong influenza surveillance data systems covering healthcare providers, laboratories, daycare centers and residential care homes for the elderly. A Bayesian hierarchical statistical model was developed to examine the statistical relationships between the influenza surveillance data and the information environment represented by alerts from HealthMap and web queries from Google. Different models were fitted for non-pandemic and pandemic periods and model goodness-of-fit was assessed using common model selection procedures.ResultsSome surveillance systems - especially ad hoc systems developed in response to the pandemic flu outbreak - are more correlated with the information environment than others. General practitioner (percentage of influenza-like-illness related patient visits among all patient visits) and laboratory (percentage of specimen tested positive) seem to proportionally reflect the actual disease trends and are less representative of the information environment. Surveillance systems using influenza-specific code for reporting tend to reflect biases of both healthcare seekers and providers.ConclusionsThis study shows certain influenza surveillance systems are less correlated with the information environment than others, and therefore, might represent more reliable indicators of disease activity in future outbreaks. Although the patterns identified in this study might change in future outbreaks, the potential susceptibility of surveillance data is likely to persist in the future, and should be considered when interpreting surveillance data.

Dataset Information

Statistical Study of the Performance of Recursive Bayesian Filters with Abnormal Observations from Range Sensors.

Publications

Statistical Study of the Performance of Recursive Bayesian Filters with Abnormal Observations from Range Sensors.

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