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Robot Localization: State Estimation and Particle Filters: Manuela M. Veloso

This document discusses robot localization using particle filters. It describes how particle filters can be used to maintain multiple hypotheses about a robot's pose to account for noisy sensor data. Specifically, it discusses how Fast Sampling Plane Filtering (FSPF) can extract planar surfaces from 3D point cloud data to match a robot's sensory observations to a 2D vector map for localization. Depth camera sensing and FSPF are used to generate plane filtered points that can be compared to a map for effective autonomous localization of a robot within multi-floor indoor environments.

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0% found this document useful (0 votes)
38 views15 pages

Robot Localization: State Estimation and Particle Filters: Manuela M. Veloso

This document discusses robot localization using particle filters. It describes how particle filters can be used to maintain multiple hypotheses about a robot's pose to account for noisy sensor data. Specifically, it discusses how Fast Sampling Plane Filtering (FSPF) can extract planar surfaces from 3D point cloud data to match a robot's sensory observations to a 2D vector map for localization. Depth camera sensing and FSPF are used to generate plane filtered points that can be compared to a map for effective autonomous localization of a robot within multi-floor indoor environments.

Uploaded by

KhaoulaMaatoug
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
You are on page 1/ 15

11/5/15

Robot Localization:
State Estimation and Particle Filters
Manuela M. Veloso
15-381 Fall 2015

CoBot(s) Collaborative Robot(s)


www.cs.cmu.edu/~coral/cobot

Joydeep Biswas, Brian Coltin, Stephanie Rosenthal, Mehdi Samadi, Thomas


Kollar, Cetin Mericli, Juan Pablo Mendoza, Yichao Sun, Vittorio Perera

Tasks

Go to a loca-on
Deliver a message
Escort a visitor
Transport object
between loca-ons
Semi-autonomous
telepresence
Visitor companion
Robots designed and built
by Michael Licitra

11/5/15

Go-To-Room Task Example

Robot Localization
Determine the robots pose (x, y, and theta) in an
environment from sensing
Challenges:
Noisy or incorrect sensing
Odometry model

Common solution: particle filters


Maintain multiple hypotheses (particles) with
likelihoods (weights)
Must limit number of hypotheses based on
computational requirements, cannot cover entire
configuration space
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11/5/15

Robots Position Localization


- Apriori: motion model, map
- Given: actual motion, sensing
- Compute: probabilistic
distribution of position belief
- Method: Bayesian update

Standard Monte Carlo Localization


Maintain robot poses pi and weights wi
Three steps (Dellaert et al. 1999):
Predict Step. Move the particle poses based on the
motion model of the robot, with motion noise.
Update Step. Multiply particle weights wi by p(s|li), or the
likelihood of making the observed sensor readings given
that the robot is in pose pi. p(s|l) is referred to as the
sensor model.
Resample Step. Choose new particles probabilistically by
sampling from old particle weights.

Inexpensively model multi-modal distributions, but


cannot cover entire space
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Sequential State Estimation


Sensor model p (s|x)
Dynamics model p(xt+1 | xt, ut)
Compute p(xt+1 | xt, ut, st+1)
Dynamic Bayes Network
Particle filters
See Russell & Norvig, chapter 15

Example Particle Filter


Two states: Raining
and Not Raining
For large N, the
number of samples
occupying a state xt
after observations
e1:t is

11/5/15

Example Particle Filter


R0

P(R1)

0.7

0.2

Use Model

Example Particle Filter


R0

P(R1)

0.7

0.2

Use Model

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Example Particle Filter


Observe
umbrella
We weight each sample by the likelihood for the
observation at time t+1.

Example Particle Filter


Resample: replicate each sample with probability
proportional to its weight.

11/5/15

Example Particle Filter


The number of samples after resampling is
proportional to the total weight in xt+1 before
resampling.

The Autonomous Localization Problem


Prior: Map
Given: History of observations, robot actions
Estimate: Pose (x,y,) of robot

Autonomous robot: pose belief run-time update


Predict, based on robot odometry
Update, based on perceived sensed signals
Constrain, based on map properties

11/5/15

The Multi-Floor Building Map

Vector-Based Map Representations

11/5/15

Effective Autonomous Localization


Kinect RGB (not used) + Depth Sensing

Sensing and Map


Need to match sensing to map

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Fast Sampling Plane Filtering (FSPF)


Biswas & Veloso, ICRA2011

Based on RANSAC
Output:
A set of plane filtered
points
A set of associated
normals
A set of rejected
(outlier) points

Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

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11/5/15

Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

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Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

12

11/5/15

Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

Fast Sampling Plane Filtering (FSPF)


J. Biswas & M.Veloso, ICRA2011

13

11/5/15

Raw 3D point cloud, color coded by


depth from camera

FSPF generated plane filtered point


cloud, color coded by depth from
camera
Green arrows show plane normals

Depth-Based Localization

Blue lines: 2D vector map


Orange circles: particles (robot pose
estimates)
Red dots: plane filtered points
Good localization => good overlap between
plane filtered points and map

White points: raw 3D


points
Colored points: plane
filtered points
Green arrows: normals

14

11/5/15

Summary
Particle filters for sequential state estimation
Depth-camera sensing
Russell and Norvig chapter 15
J. Biswas & M. Veloso FSPF; Episodic NonMarkov Localization
M.Veloso et al. CoBots, IJCAI 2015
Next class Symbiotic autonomy and Multi-robot
systems

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