Particle filters for Fun and Profit Nick Roy December 1st, 2003 16410
Particle Filters for Fun and Profit Nick Roy December 1st, 2003 16.410
●。● veto Ix The Minerva Experience
Remove Video link
●● Robot localization o 3 canonical problems Position Tracking Global localization Kidnapped Robot problem o Not the mapping problem. We always assume we have a map To start without a map or model is the Simultaneous Localization and Mapping problem, or SLAM. Also known as Concurrent Mapping and Localization
Robot Localization | 3 canonical problems • Position Tracking • Global Localization • Kidnapped Robot problem | Not the mapping problem. We always assume we have a map. • To start without a map or model is the “Simultaneous Localization and Mapping problem”, or SLAM. Also known as Concurrent Mapping and Localization
●。。 Position tracking i take an action Where am I: now? State space Ⅰ was here
Position Tracking Where am I now? I take an action State Space I was here
●。G| obal localization State space i start with no position information Where am i?
Global Localization State Space I start with no position information. Where am I?
oo Kidnapped Robot Problem i take an get moved action without my knowledge 多 多 Can i tell rm not where i thought I was State space Ⅰ was here I think l am here Where am i now?
Kidnapped Robot Problem I take an I get moved action without my knowledge Can I tell I’m not where I thought I was? State Space I was here I think I am here. Where am I now?
●。● Assumptions without loss of generality o Metric, grid-based map o Pseudo-holonomic robot, operating in the plane o 360 field-of-view range sensor
Assumptions (without loss of generality) | Metric, grid-based map | Pseudo-holonomic robot, operating in the plane | 360° field-of-view range sensor
