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

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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

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Detection of Landmarks

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Unscented Kalman Filtering

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Tracking Landmarks

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Average Estimation Error

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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