Cross-modal localization through mutual information
- Publication Type:
- Conference Proceeding
- 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, pp. 5597 - 5602
- Issue Date:
Relating information originating from disparate sensors observing a given scene is a challenging task, particularly when an appropriate model of the environment or the behaviour of any particular object within it is not available. One possible strategy to address this task is to examine whether the sensor outputs contain information which can be attributed to a common cause. In this paper, we present an approach to localise this embedded common information through an indirect method of estimating mutual information between all signal sources. Ability of L1regularization to enforce sparseness of the solution is exploited to identify a subset of signals that are related to each other, from among a large number of sensor outputs. As opposed to the conventional L2regularization, the proposed method leads to faster convergence with much reduced spurious associations. Simulation and experimental results are presented to validate the findings. © 2009 IEEE.
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