Where Project proposal Mustafizur Rahman 5 July 2011 · Pin hole model of camera Robots coordinate...
Transcript of Where Project proposal Mustafizur Rahman 5 July 2011 · Pin hole model of camera Robots coordinate...
Project proposal
Mustafizur Rahman
5th July 2011
Where
am I ?
Motivation
Our approach
Vision based position estimation
Localization in 1-D space
Experiment set up
Results of 1-D localization
Localization in 2-D space
Results of 2-D localization
Conclusion
Precise localization is very crucial.
GPS information is usually inaccurate or unavailable.
Map and landmark’s positions are easy to obtain.
Assumption: Map and landmark’s positions are available.
Sensors are:CameraGPSOdometerCompass
Incorporate all estimations to get
a final position estimation
Pin hole
model of
camera
Robots
coordinate
can be
easily
calculated
by simple
geometry.Figure source: “Position estimation for a mobile
robot using vision and odometry”, Frederic et.
all
noise process+u+x=x kk1k
)/()()( ,, ylxlxh iyixi
)/( ,iyi lyH
Shopping street : Simulate in a corridor.
Signboard : Paper posted on the wall.
Vision: Use a digital camera and identify
landmarks from images manually.
Odometer: Wheel rotation count.
0 5 10 15 20 25-200
0
200
400
600
800
1000
1200
1400
1600Trajectory
True
Prediction wo sensing
Measurment
Estimation
Prediction at each step
0 5 10 15 20 250
20
40
60
80
100
120
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160
180Error
Prediction wo sensing
Measurment
Estimation
Prediction at each step
0 5 10 15 20 259
10
11
12
13
14
15
16Estimation covariance
Qyu
xu
X
kk
kkk
kkk
k
sin
cos
1
k
k
k
k u
u
F
100
cos10
sin01
ylXh y )(1
|)(|/)180tan()(()( 11,5:2 XhXhxlXh ix
001
001
001
001
010
H
-1400 -1200 -1000 -800 -600 -400 -200 0 200-500
-400
-300
-200
-100
0
100
200
Estimate
True
12
67
8
4
5
3
9
10
In 1-D space, localization accuracy was
good.
In 2-D space, we need further
improvement.
The reasons of error might be, mistake in
data collection, error in approximation.