“The number and arrangement of sensors on an autonomous mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization and mapping is essential for the success of downstream control tasks. However, when designing a new robotic platform, researchers and practitioners alike usually mimic standard configurations or maximize simple heuristics like field-of-view (FOV) coverage to decide where to place exteroceptive sensors. … We conduct an information-theoretic investigation of this overlooked element of mobile robotic perception in the context of simultaneous localization and mapping.”

Find the paper and authors list at ArXiv.