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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)

29 views

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

Uploaded by

KhaoulaMaatoug

Available Formats

Download as PDF, TXT or read online on Scribd

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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

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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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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

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Example Particle Filter

P(R1)

0.7

0.2

Use Model

Example Particle Filter

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.

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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

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The Multi-Floor Building Map

Vector-Based Map Representations

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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