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.
Speaker: Arno Solin
Affiliation: Professor of Computer Science, Aalto University
Place of Seminar: Seminar Room T6, Konemiehentie 2, Aalto University