CSE-473 Mobile Robot Mapping. Mapping with Raw Odometry.
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Transcript of CSE-473 Mobile Robot Mapping. Mapping with Raw Odometry.
![Page 1: CSE-473 Mobile Robot Mapping. Mapping with Raw Odometry.](https://reader035.fdocuments.in/reader035/viewer/2022062315/5697bf791a28abf838c82449/html5/thumbnails/1.jpg)
CSE-473
Mobile Robot Mapping
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Mapping with Raw Odometry
![Page 3: CSE-473 Mobile Robot Mapping. Mapping with Raw Odometry.](https://reader035.fdocuments.in/reader035/viewer/2022062315/5697bf791a28abf838c82449/html5/thumbnails/3.jpg)
Why is SLAM a hard problem?
SLAM: robot path and map are both unknown
Robot path error correlates errors in the map
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Why is SLAM a hard problem?
• In the real world, the mapping between observations and landmarks is unknown
• Picking wrong data associations can have catastrophic consequences
• Pose error correlates data associations
Robot poseuncertainty
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Graphical Model of Mapping
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2
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• Map with N landmarks:(3+2N)-dimensional Gaussian
• Can handle hundreds of dimensions
(E)KF-SLAM
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EKF-SLAM
Map Correlation matrix
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EKF-SLAM
Map Correlation matrix
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EKF-SLAM
Map Correlation matrix
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Victoria Park Data Set
[courtesy of E. Nebot]
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Victoria Park Data Set Vehicle
[courtesy of E. Nebot]
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Data Acquisition
[courtesy of E. Nebot]
![Page 13: CSE-473 Mobile Robot Mapping. Mapping with Raw Odometry.](https://reader035.fdocuments.in/reader035/viewer/2022062315/5697bf791a28abf838c82449/html5/thumbnails/13.jpg)
Estimated Trajectory
[courtesy of E. Nebot]
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Graph-SLAM Idea
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Mapping the Allen Center
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Comparison to “Ground Truth Comparison to “Ground Truth Map”Map”
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Three Mapping RunsThree Mapping Runs
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Three Overlayed MapsThree Overlayed Maps
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3D Outdoor Mapping
108 features, 105 poses, only few secs using cg.
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Map Before Optimization
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Map After Optimization
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Autonomous Navigation
Courtesy of W. Burgard
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Rao-Blackwellized Mapping
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Compute a posterior over the map and possible trajectories of the robot :
robot motionmap trajectory
map and trajectory
measurements
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FastSLAM
Robot Pose 2 x 2 Kalman Filters
Landmark 1 Landmark 2 Landmark N…x, y,
Landmark 1 Landmark 2 Landmark N…x, y, Particle#1
Landmark 1 Landmark 2 Landmark N…x, y, Particle#2
Landmark 1 Landmark 2 Landmark N…x, y, Particle#3
ParticleM
…
[Begin courtesy of Mike Montemerlo]
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Example
map of particle 1 map of particle 3
map of particle 2
3 particles
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Rao-Blackwellized Mapping with Scan-Matching
Map:
Inte
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ese
arc
h L
ab
Seatt
le
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Frontier Based Exploration
[Yamauchi et al. 96], [Thrun 98]
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