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Discrete Filters

This document discusses discrete filters for probabilistic robotics. It describes a discrete Bayes filter algorithm that takes in a belief and data to update the belief. It also discusses piecewise constant representations of beliefs using grids and implementing discrete Bayes filters using grids. Specifically, it summarizes approaches for updating beliefs based on sensory input, motions, and avoiding updating irrelevant state spaces.

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83 views11 pages

Discrete Filters

This document discusses discrete filters for probabilistic robotics. It describes a discrete Bayes filter algorithm that takes in a belief and data to update the belief. It also discusses piecewise constant representations of beliefs using grids and implementing discrete Bayes filters using grids. Specifically, it summarizes approaches for updating beliefs based on sensory input, motions, and avoiding updating irrelevant state spaces.

Uploaded by

mujtabaiftikhar156
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 PPT, PDF, TXT or read online on Scribd
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Probabilistic Robotics

Bayes Filter Implementations

Discrete filters

SA-1
Piecewise
Constant

2
Discrete Bayes Filter Algorithm
1. Algorithm Discrete_Bayes_filter( Bel(x),d ):
2. 0
3. If d is a perceptual data item z then
4. For all x do
5. Bel ' ( x)  P ( z | x) Bel ( x)
6.     Bel ' ( x)
7. For all x do
8. Bel ' ( x)   1 Bel ' ( x)
9. Else if d is an action data item u then
10. For all x do
11. Bel ' ( x)   P( x | u , x' ) Bel ( x' )
x'
12. Return Bel’(x)

3
Piecewise Constant
Representation
Bel ( xt  x, y, )

4
Implementation (1)

• To update the belief upon sensory input and to carry out


the normalization one has to iterate over all cells of the
grid.
• Especially when the belief is peaked (which is generally
the case during position tracking), one wants to avoid
updating irrelevant aspects of the state space.
• One approach is not to update entire sub-spaces of the
state space.
• This, however, requires to monitor whether the robot is
de-localized or not.
• To achieve this, one can consider the likelihood of the
observations given the active components of the state
space.

5
Implementation (2)
• To efficiently update the belief upon robot motions, one typically
assumes a bounded Gaussian model for the motion uncertainty.
• This reduces the update cost from O(n2) to O(n), where n is the
number of states.
• The update can also be realized by shifting the data in the grid
according to the measured motion.
• In a second step, the grid is then convolved using a separable
Gaussian Kernel.
• Two-dimensional example:

1/16 1/8 1/16 1/4

1/8 1/4 1/8  1/2 + 1/4 1/2 1/4

1/16 1/8 1/16 1/4

• Fewer arithmetic operations


• Easier to implement
6
Grid-based Localization

7
Sonars and
Occupancy Grid Map

8
Tree-based Representation

Idea: Represent density using a variant of octrees

9
Tree-based Representations

• Efficient in space and time


• Multi-resolution

10
Xavier:
Localization in a Topological Map

[Courtesy of Reid Simmons]


11

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