An entropic criterion for minimum uncertainty sensing in recognition and localization. II. A case study on directional distance measurements

For pt. 1 see ibid. An entropic criterion for minimum uncertainty sensing, introduced in the companion paper, is applied to a case study related to the localization and recognition of a polygonal object by means of an orientable range finder. The observed object is characterized by two different uncertain parameters: the pose (position and orientation) of the object and its identity. A priori, only partial information is available both on the object identity and on its pose. Additional information about the observed object is acquired by the orientable range finder activated according to the above criterion.