Machine Learning Coffee seminar: The Power of Gaussian Processes: Magnetic Localisation and Mapping, Arno Solin
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The Power of Gaussian Processes: Magnetic Localisation and Mapping
Arno Solin
Professor, Aalto University
Abstract: Gaussian processes (GPs) are convenient tools for model-building and inference. This talk goes through how to encode knowledge from high-school physics into a GP model for the ambient magnetic field (observed by a smartphone compass). Small disturbances in the magnetic field are then used in simultaneous localisation and mapping (SLAM) to simultaneously build a map of the magnetic field and localise the device on it by Rao-Blackwellised particle filtering (Sequential Monte Carlo). The paper presenting this setup recently won the Best Paper Award at the International Conference on Information Fusion 2018.
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