Line-Based SLAM Considering Prior Distribution of Distance and Angle of Line Features in an Urban Environment

Author(s):  
Kei Uehara ◽  
Hideo Saito ◽  
Kosuke Hara
2019 ◽  
Vol 62 (3) ◽  
pp. 577-586 ◽  
Author(s):  
Garnett P. McMillan ◽  
John B. Cannon

Purpose This article presents a basic exploration of Bayesian inference to inform researchers unfamiliar to this type of analysis of the many advantages this readily available approach provides. Method First, we demonstrate the development of Bayes' theorem, the cornerstone of Bayesian statistics, into an iterative process of updating priors. Working with a few assumptions, including normalcy and conjugacy of prior distribution, we express how one would calculate the posterior distribution using the prior distribution and the likelihood of the parameter. Next, we move to an example in auditory research by considering the effect of sound therapy for reducing the perceived loudness of tinnitus. In this case, as well as most real-world settings, we turn to Markov chain simulations because the assumptions allowing for easy calculations no longer hold. Using Markov chain Monte Carlo methods, we can illustrate several analysis solutions given by a straightforward Bayesian approach. Conclusion Bayesian methods are widely applicable and can help scientists overcome analysis problems, including how to include existing information, run interim analysis, achieve consensus through measurement, and, most importantly, interpret results correctly. Supplemental Material https://doi.org/10.23641/asha.7822592


2020 ◽  
pp. 34-42
Author(s):  
Nikolay I. Shchepetkov ◽  
Svetlana B. Kapeleva ◽  
Denis V. Bugaev ◽  
Gregory S. Matovnikov ◽  
Anna S. Kostareva

The article provides a comprehensive analysis of outdoor lighting in the central part of Tyumen (with consideration of conducted field observations) and prospects of its development on the basis of the general plan of illumination of the central part of the city being under design. Main provisions of this general plan as well as methodological principles and assessment criteria of design solutions illustrat-ed by photographs, schemes and visualisations of the illuminated objects are described.


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