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1 2 Localization I Add-On Slides
1 2 Localization I Add-On Slides
Roland Siegwart
Margarita Chli
Paul Furgale
Marco Hutter
Martin Rufli
Davide Scaramuzza
Localization I Zürich
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Introduction
Do we need to localize or not?
Localization I Zürich
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Introduction
Do we need to localize or not?
Localization I Zürich
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Introduction
Do we need to localize or not?
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Introduction
Definitions
Global localization
The robot is not told its initial position
Its position must be estimated from scratch
Position Tracking
A robot knows its initial position and “only” has to accommodate small errors in
its odometry as it moves
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Introduction
How to localize?
Odometry
Map Based Localization (without external sensors or artificial landmarks. Just use
robot onboard sensors)
Example: Probabilistic Map Based Localization
Localization I Zürich
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Beacon Based Localization
Triangulation
Ex 1: Poles with highly reflective surface and a laser for detecting them
Ex 2: Coloured beacons and an omnidirectional camera for detecting
them (example: RoboCup or autonomous robots in tennis fields)
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Introduction
Beacon Based Localization
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Introduction
Motion Capture Systems
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Introduction
Map-based localization
Consider a mobile robot moving in a known environment.
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Introduction
Map-based localization
Consider a mobile robot moving in a known environment.
As it starts to move, say from a precisely known location, it can keep track of its motion
using odometry.
Localization I Zürich
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Introduction
Map-based localization
Consider a mobile robot moving in a known environment.
As it starts to move, say from a precisely known location, it can keep track of its motion
using odometry.
Localization I Zürich
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Introduction
Map-based localization
Consider a mobile robot moving in a known environment.
As it starts to move, say from a precisely known location, it can keep track of its motion
using odometry.
Localization I Zürich
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Introduction
Map-based localization
Consider a mobile robot moving in a known environment.
As it starts to move, say from a precisely known location, it can keep track of its motion
using odometry.
The robot makes an observation and updates its position and uncertainty
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Ingredients
Probabilistic Map-based localization
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Probabilistic localization
belief representation
ሺݔሻ
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Belief Representation
Characteristics
Continuous Discrete
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Odometry
Definition
Dead reckoning (also deduced reckoning or odometry) is the process of
calculating vehicle's current position by using a previously determined position
and estimated speeds over the elapsed time
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Odometry
The Differential Drive Robot (1)
x x
x y xˆt xt 1 y f ( xt 1, ut )
x
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Odometry
Wheel Odometry
Kinematics
s cos( ) This term comes from the application
xt 1 2 of the Instantaneous Center of Rotation
xˆt f ( xt 1, ut ) yt 1 s sin( )
2
t 1
Can you demonstrate these equations?
s sl
s r
2
sr sl
b
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Odometry
Odometric Error Propagation
Error model
kr sr 0
S
0 kl sl
Fxt1 f xt1
FS
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Growth of Pose uncertainty for Straight Line
Movement
Note: Errors perpendicular to the direction of movement are growing much faster!
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Growth of Pose uncertainty for Movement on a
Circle
Note: Errors ellipse does not remain perpendicular to the direction of movement!
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Odometry
Example of non-Gaussian error model
Deterministic Non-Deterministic
(Systematic) (Non-Systematic)
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Odometry
Calibration of systematic errors [Borenstein 1996]
The unidirectional square path experiment
BILD 1 Borenstein
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Odometry
Calibration of Errors II (Borenstein [5])
The bi-directional square path experiment
Localization I Zürich