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Level-Set Based Greedy Algorithm With Sequential Gaussian Process Regression for Implicit Surface Estimation

[+] Author Affiliations
Shiyi Yang, Soo Jeon

University of Waterloo, Waterloo, ON, Canada

Jongeun Choi

Michigan State University, East Lansing, MI

Paper No. DSCC2016-9815, pp. V002T25A001; 8 pages
doi:10.1115/DSCC2016-9815
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

This paper proposes an efficient greedy algorithm to estimate the object shape within a limited number of sample data (i.e. the touch-down points). Specifically, we treat the object shape as an implicit surface which is defined as the zero level-set of an unknown function and apply Gaussian process to estimate the surface. The mutual information criteria is utilized to decide which point should be sampled in the next iteration. To expedite the estimation process, we implement sequential Gaussian process for computational efficiency and significantly reduce the computational cost by selecting search area based on the estimated level-set variance. We present some simulation results to compare the performance of the proposed algorithm with the random sampling algorithm and demonstrate the improvements in both speed and accuracy over the random sampling algorithm.

Copyright © 2016 by ASME
Topics: Algorithms

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