UTCN Computer Science Department

Artificial vision for autonomous driving

2009/2010 Master AIV Sergiu Nedevschi, PhD E E Professor in Computer Science Technical University of Cluj-Napoca 15 C. Daicoviciu str, Cluj-Napoca, RO 400 020,Romania Phone: (+40 264) 401 219; (+40 264) 401 456 Fax: (+40 264) 594491 E-mail: Sergiu.Nedevschi@cs.utcluj.ro Each student has to choose two topics( one applicative and one theoretical). These topics will be prepared and presented by students during classes at the programmed data. Please check periodically the Artificial Vision document from the Topics directory. The students that are not programmed yet are invited to ask for the topics via e-mail.

Applicative Topics: references are available in the References folder

01. Sensorial system and perception 02. Epipolar geometry 03. Object detection in disparity space 04. Object detection in 3D space 05. Good features to track 06. Optical flow and motion field 07. Ego motion estimation 08. Object tracking 09. Sensor fusion 10. Environment representation 11. Robot motion 12. Measurements 13. Mobile robot localization 14. Navigation path planning and obstacle avoidance

Theoretical Topics from:Probabilistic Robotics by S. Thrun, W. Burgard, D. Fox,

1 INTRODUCTION 1

1.1 Uncertainty in Robotics 1.2 Probabilistic Robotics 1.3 Implications 1.4 Road Map 1.5 Bibliographical Remarks 2 RECURSIVE STATE ESTIMATION 2.1 Introduction 2.2 Basic Concepts in Probability 2.3 Robot Environment Interaction 2.3.1 State 2.3.2 Environment Interaction 2.3.3 Probabilistic Generative Laws 2.3.4 Belief Distributions 2.4 Bayes Filters 2.4.1 The Bayes Filter Algorithm 2.4.2 Example 2.4.3 Mathematical Derivation of the Bayes Filter 2.4.4 The Markov Assumption 2.5 Representation and Computation 2.6 Summary 2.7 Bibliographical Remarks 3 GAUSSIAN FILTERS 3.1 Introduction 3.2 The Kalman Filter 3.2.1 Linear Gaussian Systems 3.2.2 The Kalman Filter Algorithm 3.2.3 Illustration 3.2.4 Mathematical Derivation of the KF 3.3 The Extended Kalman Filter 3.3.1 Linearization Via Taylor Expansion 3.3.2 The EKF Algorithm 3.3.3 Mathematical Derivation of the EKF 3.3.4 Practical Considerations 3.4 The Information Filter 3.4.1 Canonical Representation 3.4.2 The Information Filter Algorithm 3.4.3 Mathematical Derivation of the Information Filter 3.4.4 The Extended Information Filter Algorithm 3.4.5 Mathematical Derivation of the Extended Information Filter 3.4.6 Practical Considerations 3.5 Summary 3.6 Bibliographical Remarks 4 NONPARAMETRIC FILTERS 4.1 The Histogram Filter 4.1.1 The Discrete Bayes Filter Algorithm

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4.1.2 Continuous State 4.1.3 Decomposition Techniques 4.1.4 Binary Bayes Filters With Static State 4.2 The Particle Filter 4.2.1 Basic Algorithm 4.2.2 Importance Sampling 4.2.3 Mathematical Derivation of the PF 4.2.4 Properties of the Particle Filter 4.3 Summary 4.4 Bibliographical Remarks 5 ROBOT MOTION 5.1 Introduction 5.2 Preliminaries 5.2.1 Kinematic Configuration 5.2.2 Probabilistic Kinematics 5.3 Velocity Motion Model 5.3.1 Closed Form Calculation 5.3.2 Sampling Algorithm 5.3.3 Mathematical Derivation 5.4 Odometry Motion Model 5.4.1 Closed Form Calculation 5.4.2 Sampling Algorithm 5.4.3 Mathematical Derivation 5.5 Motion and Maps 5.6 Summary 5.7 Bibliographical Remarks 6 MEASUREMENTS 6.1 Introduction 6.2 Maps 6.3 Beam Models of Range Finders 6.3.1 The Basic Measurement Algorithm 6.3.2 Adjusting the Intrinsic Model Parameters 6.3.3 Mathematical Derivation 6.3.4 Practical Considerations 6.4 Likelihood Fields for Range Finders 6.4.1 Basic Algorithm 6.4.2 Extensions 6.5 Correlation-Based Sensor Models 6.6 Feature-Based Sensor Models 6.6.1 Feature Extraction 6.6.2 Landmark Measurements 6.6.3 Sensor Model With Known Correspondence 6.6.4 Sampling Poses 6.6.5 Further Considerations 6.7 Practical Considerations 6.8 Summary

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7 MOBILE ROBOT LOCALIZATION 7.1 Introduction 7.2 A Taxonomy of Localization Problems 7.3 Markov Localization 7.4 Illustration of Markov Localization 7.5 EKF Localization 7.5.1 Illustration 7.5.2 The EKF Localization Algorithm 7.5.3 Mathematical Derivation 7.6 Estimating Correspondences 7.6.1 EKF Localization with Unknown Correspondences 7.6.2 Mathematical Derivation 7.7 Multi-Hypothesis Tracking 7.8 Practical Considerations 7.9 Summary 8 GRID AND MONTE CARLO LOCALIZATION 8.1 Introduction 8.2 Grid Localization 8.2.1 Basic Algorithm 8.2.2 Grid Resolutions 8.2.3 Computational Considerations 8.2.4 Illustration 8.3 Monte Carlo Localization 8.3.1 The MCL Algorithm 8.3.2 Properties of MCL 8.3.3 Random Particle MCL: Recovery from Failures 8.3.4 Modifying the Proposal Distribution 8.4 Localization in Dynamic Environments 8.5 Practical Considerations 8.6 Summary 8.7 Exercises 9 OCCUPANCY GRID MAPPING 9.1 Introduction 9.2 The Occupancy Grid Mapping Algorithm 9.2.1 Multi-Sensor Fusion 9.3 Learning Inverse Measurement Models 9.3.1 Inverting the Measurement Model 9.3.2 Sampling from the Forward Model 9.3.3 The Error Function 9.3.4 Further Considerations 9.4 Maximum A Posterior Occupancy Mapping 9.4.1 The Case for Maintaining Dependencies 9.4.2 Occupancy Grid Mapping with Forward Models 9.5 Summary 10 SIMULTANEOUS LOCALIZATION AND MAPPING

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10.1 Introduction 10.2 SLAM with Extended Kalman Filters 10.2.1 Setup and Assumptions 10.2.2 SLAM with Known Correspondence 10.2.3 Mathematical Derivation 10.3 EKF SLAM with Unknown Correspondences 10.3.1 The General EKF SLAM Algorithm 10.3.2 Examples 10.3.3 Feature Selection and Map Management 10.4 Summary 10.5 Bibliographical Remarks 10.6 Projects 11 THE EXTENDED INFORMATION FORM ALGORITHM 11.1 Introduction 11.2 Intuitive Description 11.3 The EIF SLAM Algorithm 11.4 Mathematical Derivation 11.4.1 The Full SLAM Posterior 11.4.2 Taylor Expansion 11.4.3 Constructing the Information Form 11.4.4 Reducing the Information Form 11.4.5 Recovering the Path and the Map 11.5 Data Association in the EIF 11.5.1 The EIF SLAM Algorithm With Unknown Correspondence 11.5.2 Mathematical Derivation 11.6 Efficiency Consideration 11.7 Empirical Implementation 11.8 Summary 12 THE SPARSE EXTENDED INFORMATION FILTER 12.1 Introduction 12.2 Intuitive Description 12.3 The SEIF SLAM Algorithm 12.4 Mathematical Derivation 12.4.1 Motion Update 12.4.2 Measurement Updates 12.5 Sparsification 12.5.1 General Idea 12.5.2 Sparsifications in SEIFs 12.5.3 Mathematical Derivation 12.6 Amortized Approximate Map Recovery 12.7 How Sparse Should SEIFs Be? 12.8 Incremental Data Association 12.8.1 Computing Data Association Probabilities 12.8.2 Practical Considerations 12.9 Tree-Based Data Association

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12.9.1 Calculating Data Association Probaiblities 12.9.2 Tree Search 12.9.3 Equivalency Constraints 12.9.4 Practical Considerations 12.10 Multi-Vehicle SLAM 12.10.1Fusing Maps Acquired by Multiple Robots 12.10.2Establishing Correspondence 12.11 Discussion 13 MAPPING WITH UNKNOWN DATA ASSOCIATION 13.1 Latest Derivation 13.2 Motivation 13.3 Mapping with EM: The Basic Idea 13.4 Mapping with the EM Algorithm 13.4.1 The EM Mapping Algorithm 13.4.2 The Map Likelihood Function 13.4.3 Efficient Maximum Likelihood Estimation 13.4.4 The E-step 13.4.5 The M-step 13.4.6 Examples 13.5 Grid-Based Implementation 13.6 Layered EM Mapping 13.6.1 Layered Map Representations 13.6.2 Local Maps 13.6.3 The Perceptual Model For Layered Maps 13.6.4 EM with Layered Maps 13.6.5 The Layered EM Mapping Algorithm 13.6.6 Examples 13.7 Summary 13.8 Bibliographical Remarks 14 FAST INCREMENTAL MAPPING ALGORITHMS 14.1 Motivation 14.2 Incremental Likelihood Maximization 14.3 Maximum Likelihood as Gradient Descent 14.3.1 Search in Pose Space 14.3.2 Gradient Calculation 14.3.3 Suggestions for the Implementation 14.3.4 Examples 14.3.5 Limitations 14.4 Incremental Mapping with Posterior Estimation 14.4.1 Detecting Cycles 14.4.2 Correcting Poses Backwards in Time 14.4.3 Illustrations 14.5 Multi-Robot Mapping 14.6 Mapping in 3D 14.7 Summary 14.8 Bibligraphical Remarks

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14.9 Projects 15 MARKOV DEVISION PROCESSES 15.1 Motivation 15.2 Uncertainty in Action Selection 15.3 Value Iteration 15.3.1 Goals and Payoff 15.3.2 Finding Control Policies in Fully Observable Domains 15.3.3 Value Iteration 15.3.4 Illustration 16 PARTIALLY OBSERVABLE MARKOV DECISION PROCESSES 16.1 Motivation 16.2 Finite Environments 16.2.1 An Illustrative Example 16.2.2 Value Iteration in Belief Space 16.2.3 Calculating the Value Function 16.2.4 Linear Programming Solution 16.3 General POMDPs 16.3.1 The General POMDP Algorithm 16.4 A Monte Carlo Approximation 16.4.1 Monte Carlo Backups 16.4.1.1Learning Value Functions 16.4.1.2Nearest Neighbor 16.4.2 Experimental Results 16.5 Augmented Markov Decision Processes 16.5.1 The Augmented State Space 16.5.2 Value Iteration in AMDPs 16.5.3 Illustration 16.6 Summary 16.7 Bibliographical Remarks 16.8 Projects REFERENCES

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Reference textbooks:
1. E. Trucco, A. Verri, Introductory Techniques for 3-D Computer Vision, Prentice Hall, 1998. 2. R. Siegwart, I. Nourbakhsh, Autonomous Mobile Robots, MIT Press, 2004 3. S. Thrun, W. Burgard, D. Fox, Probabilistic Robotics, Stanford Press