cs685-slam

cs685-slam - The SLAM Problem Probabilistic Robotics SLAM A...

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1 Probabilistic Robotics SLAM 2 Given: The robot’s controls Observations of nearby features Estimate: Map of features Path of the robot The SLAM Problem A robot is exploring an unknown, static environment. 3 Structure of the Landmark- based SLAM-Problem 4 SLAM Applications Indoors Space Undersea Underground
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2 5 Representations Grid maps or scans [Lu & Milios, 97; Gutmann, 98: Thrun 98; Burgard, 99; Konolige & Gutmann, 00; Thrun, 00; Arras, 99; Haehnel, 01;…] Landmark-based [Leonard et al., 98; Castelanos et al., 99: Dissanayake et al., 2001; Montemerlo et al., 2002;… Underwater Mapping with SLAM Courtesy of Hugh Durrant-Whyte, Univ of Sydney 7 Why is SLAM a hard problem? SLAM : robot path and map are both unknown Robot path error correlates errors in the map 8 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 pose uncertainty
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cs685-slam - The SLAM Problem Probabilistic Robotics SLAM A...

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