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Transcript of FYP Presentation
Monocular Simultaneous Localisation and Mapping (SLAM)
Xuechen LiuSupervisor: Simon
MaskellAssessor: Richard
WilliamsDepartment of Electrical Engineering and Electronics
University of LiverpoolMail: [email protected]
What is SLAM: Chicken or Egg
Xuechen Liu [email protected]
A map is asked to be built for localization……
While the pose of the robot need to be estimated based on accurate mapping
Where am I?
What surrounds me?
Conventional Approach: KF Based
Xuechen Liu [email protected]
All Gaussian……N !
All Linear!Motion
Measurement
Background: Particle Filter & FastSLAM2.0
Xuechen Liu [email protected]
Generic Particle Filter
Prediction
Weight Assignment
Resampling
Iterative Process Essence of
FastSLAM2.0Through
Particles
Contribution: UKF Replaces EKF
Xuechen Liu [email protected]
Both two Filters can model non-linear distribution, but……EKF(Extended Kalman Filter)
UKF(Unscented Kalman Filter)
V.
S
Taylor Expansion
Unscented Transform
UKF has
BETTER estimation than EKF
UKF: Better Estimation, Easier Understanding, Harder Implementation!
Contribution: Prior Vision System
Xuechen Liu [email protected]
Generally Speaking……Read Video
Corner Detection & Matching
Reconstruct 3D points
Pose EstimationFAST
Corner Detection
Structure from Motion
Further Actions
Xuechen Liu [email protected]
1) Implement the whole system
2) Gaussian Removal: Get the exact expression of weights back
3) Student T likelihood model application [optional]
They can work well separately, so how about the combination?
Literature Review/References[1] M. Montemerlo, S. Thrun, D. Koller and B. Wehbreit, "FastSLAM: A Factored Solution to the
Simultaneous Localization and Mapping Problem," 2002.
[2] M. Montemerlo, S. Thrun, D. Koller and B. Wegbreit, "FastSLAM2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges," in International Joint Conference on Artificial Intelligence, 2003.
[3] M. Arulampalam, S. Maskell, N. Gordon and T. Clapp, “A Tutorial on particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking,” IEEE Transactions on Signal Processing, vol. 50, no. 2, pp. 174-187, 2002.
[4] F. Dellaert, D. Fox, W. Burgard and S. Thrun, "Monte Carlo Localization for Mobile Robots," in International Conference on Robotics & Automation, Detroit, Michigan, 1999.
[5] H. Bay, A. Ess, T. Tuytelaars and L. Van Gool, “Speed-Up Robust Features (SURF),” Computer Vision and Image Understanding, no. 110, pp. 346-359, 2007.
[6] E. Rosten, R. Porter and T. Drummond, "Faster and Better: A Machine Learning Approach to Corner Detection," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 32, no. 1, pp. 105-119, 2010.
[7] S. Julier and J. Uhlmann, “Unscented Filtering and Nonlinear Estimation,” Proceedings of the IEEE, vol. 92, no. 3, pp. 401-422, 2004.
Xuechen Liu [email protected]
Thanks for Listening!Any Questions?
Xuechen Liu [email protected]