Self-localization of Mobile Robot in Unknown Environment Alexander Prozorov Alexander Tyukin Ilya Lebedev Andrew Priorov P.G. Demidov Yaroslavl State University 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
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Self-localization of Mobile Robot
in Unknown Environment
Alexander Prozorov
Alexander Tyukin
Ilya Lebedev
Andrew Priorov
P.G. Demidov Yaroslavl State University
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Autonomous Navigation Issue
2
Controller Robot
Measurements (camera stream)
Controls (commands)
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Simultaneous Localization and Mapping
3
Given:
The robot’s controls
Observations of key features
Estimate:
Map of features
Path of the robot
Approaches:
Extended Kalman Filter
Particle Filter
Graph based
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Problem Statement
4
A robot moves through xt-1…xt+1 locations with controls
ut-1...ut+1 and observes landmark m as zt-1…zt+1.
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Probabilistic Formulation of the SLAM
5
Let variables x,y,z characterizes the positions of our robot v and
landmarks p0, p1, ... pm, then probability p(x,y,z | Ui, Zi) can be
represented as follows:
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
State Space
6
<R,T> - localization
<R,T,map> - simultaneous localization and mapping
Landmark 1 Landmark 2 Landmark M … R,T
… Landmark 1 Landmark 2 Landmark M … R,T
Landmark 1 Landmark 2 Landmark M … R,T
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Camera Model
7
Interframe homography: H = RθψRφTxy = const·RφTxy
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
The Malaga Urban Dataset
8 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Detection of Landmarks
9 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Unscented Kalman Filtering
10 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Tracking Landmarks
11 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Average Estimation Error
12 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Pose Estimation
13
Initialize particles Weight particles Resample particles Prediction
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Trajectory Estimation
14
Actual trajectory
FastSLAM
uFastSLAM
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
15 17th FRUCT Conference, Yaroslavl, 20-24 April 2015
Self-localization of Mobile Robot
in Unknown Environment
Alexander Prozorov
Alexander Tyukin
Ilya Lebedev
Andrew Priorov
P.G. Demidov Yaroslavl State University
17th FRUCT Conference, Yaroslavl, 20-24 April 2015
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