Victor Hernandez Bennetts, Marco Trincavelli, Erik Schaffernicht, Achim J. Lilienthal
Online Parameter Selection for Gas Distribution Mapping
Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013), July 2-5, 2013, Daegu, South Korea.
Abstract: Kernel DM+V, one of the most common and well studied algorithms for gas distribution mapping, relies crucially on a set of parameters. These parameters are often estimated using cross-validation (CV), which is computationally expensive and therefore has to be carried out offline. Here we propose an efficient method for parameter selection, based on Virtual Leave-One-Out Cross Validation (VLOOCV), which enables online calculation of the optimal set of parameters. VLOOCV approximates the results of CV at greatly reduced computational costs. We validate the proposed method in a set of indoor and outdoor experiments where a mobile robot with a Photo Ionization Detector (PID) was collecting gas measurements while moving in the target area. A comparison with the standard measure for model selection, the CV-based NLPD (Negative Log Predictive Density), favors the proposed algorithm that achieves the same model selection performance using just a fraction of the computational resources.
Keywords: Virtual leave-one-out cross validation, model selection, gas distribution mapping
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@INPROCEEDINGS{Hernandez_etal:ISOEN:2013,
  AUTHOR = {Hernandez Bennetts, Victor and Trincavelli, Marco and Schaffernicht, Erik and Lilienthal, Achim}
  TITLE = {Online Parameter Selection for Gas Distribution Mapping},
  BOOKTITLE = {Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013)},
  VOLUME = {},
  YEAR = {2013},
  DATE = {July 2--5},
  ADRESS = {Daegu, South Korea},
  PAGES = {}
  DOI = {}
}