© sebastian thrun, CMU, 2000 1 CS226 Statistical Techniques In Robotics Sebastian Thrun (Instructor) and Josh Bao (TA) http://robots.stanford.edu/cs226 Office: Gates 154, Office hours: Monday 1:30-3pm
Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
© sebastian thrun, CMU, 2000 1
CS226 Statistical Techniques In Robotics
Sebastian Thrun (Instructor) and Josh Bao (TA)
http://robots.stanford.edu/cs226Office: Gates 154, Office hours: Monday 1:30-3pm
© sebastian thrun, CMU, 2000 2
Warm-Up Assignment: Localization,Due Sept 23
© sebastian thrun, CMU, 2000 3
Warm-Up Assignment: Localization
© sebastian thrun, CMU, 2000 4
Warm-Up Assignment: Localization
© sebastian thrun, CMU, 2000 5
© sebastian thrun, CMU, 2000 6
Bayes Filtersx = stated = datam = mapt = timez = observationu = control),|( 0 mdxp tt
[Kalman 60, Rabiner 85]
1011011 ),,,|(),,,,|(),|( tttttttt dxmzuxpmzuxxpmxzp
),,,,|(),,,,,|( 011011 mzzuxpmzzuxzp ttttttt Bayes
),,,,|(),|( 011 mzzuxpmxzp ttttt Markov
110111 ),|(),|(),|( tttttttt dxmdxpuxxpmxzp
Markov1021111 ),,,|(),|(),|( ttttttttt dxmzuzxpuxxpmxzp
),,,,,|( 011 mzzuzxp tttt
© sebastian thrun, CMU, 2000 7
Nature of Odometry Data
© sebastian thrun, CMU, 2000 8
Probabilistic Kinematics
map m
© sebastian thrun, CMU, 2000 9
Nature of Sensor Data
© sebastian thrun, CMU, 2000 10
laser data p(o|s,m)
Probabilistic Range Sensing
© sebastian thrun, CMU, 2000 11
Posterior Probability (Single Scan)
p(o|s,m)observation o
© sebastian thrun, CMU, 2000 12
Grid Approximations
© sebastian thrun, CMU, 2000 13
Markov Localizationin Grid Map
© sebastian thrun, CMU, 2000 14
Monte Carlo Localization
© sebastian thrun, CMU, 2000 15
Sample Approximations
© sebastian thrun, CMU, 2000 16
Monte Carlo Localization, cont’d
Related Documents
