Gas source localization accuracy: A comparison between conventional, weighted arithmetic mean and kernel-based gas distribution mapping methods in small indoor area

This work focuses on comparing gas source localization accuracy of three types of gas source localization methods which are the conventional method, weighted-averaging mean method and variance map from DM+V method. Gas source localization accuracy in this work means the distance error between the calculated source location and the actual source location. All methods were implemented offline using the measurements collected from real-time gas source localization experiments that were done beforehand. The dataset consists of gas sensor measurements, and mobile robot's location in a 3m by 6m test area. The goal of the work is to shine a light on why recent works in the field are more focusing on improving probabilistic and map-based algorithms. This work also shows how the kernel size of kernel-based gas distribution mapping might affect the gas source localization accuracy in a small indoor area.