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    Slam02 Bayes Filter Short

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    Zoran Bogoeski
    This document provides an introduction to the Bayes filter and related models for state estimation. It discusses the recursive Bayes filter framework which estimates the state of a system given observations and controls. The Bayes filter can be written as a two step prediction and correction process using motion and observation models. Common realizations include the Kalman filter for linear Gaussian models and particle filters for nonlinear or non-Gaussian models. Standard probabilistic motion and sensor models for robotics applications involving laser scanners are described.

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    Slam02 Bayes Filter Short

    Uploaded by

    Zoran Bogoeski
    27 views33 pages
    This document provides an introduction to the Bayes filter and related models for state estimation. It discusses the recursive Bayes filter framework which estimates the state of a system given observations and controls. The Bayes filter can be written as a two step prediction and correction process using motion and observation models. Common realizations include the Kalman filter for linear Gaussian models and particle filters for nonlinear or non-Gaussian models. Standard probabilistic motion and sensor models for robotics applications involving laser scanners are described.

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    This document provides an introduction to the Bayes filter and related models for state estimation. It discusses the recursive Bayes filter framework which estimates the state of a system given observations and controls. The Bayes filter can be written as a two step prediction and correction process using motion and observation models. Common realizations include the Kalman filter for linear Gaussian models and particle filters for nonlinear or non-Gaussian models. Standard probabilistic motion and sensor models for robotics applications involving laser scanners are described.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    27 views33 pages

    Slam02 Bayes Filter Short

    Uploaded by

    Zoran Bogoeski
    This document provides an introduction to the Bayes filter and related models for state estimation. It discusses the recursive Bayes filter framework which estimates the state of a system given observations and controls. The Bayes filter can be written as a two step prediction and correction process using motion and observation models. Common realizations include the Kalman filter for linear Gaussian models and particle filters for nonlinear or non-Gaussian models. Standard probabilistic motion and sensor models for robotics applications involving laser scanners are described.

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    You are on page 1of 33

    Robot Mapping

    A Short Introduction to the


    Bayes Filter and Related Models

    Cyrill Stachniss

    1
    State Estimation
    Estimate the state of a system given
    observations and controls
    Goal:

    2
    Recursive Bayes Filter 1

    Definition of the belief

    3
    Recursive Bayes Filter 2

    Bayes rule

    4
    Recursive Bayes Filter 3

    Markov assumption

    5
    Recursive Bayes Filter 4

    Law of total probability

    6
    Recursive Bayes Filter 5

    Markov assumption

    7
    Recursive Bayes Filter 6

    Markov assumption

    8
    Recursive Bayes Filter 7

    Recursive term 9
    Prediction and Correction Step
    Bayes filter can be written as a two
    step process
    Prediction step

    Correction step

    10
    Motion and Observation Model
    Prediction step

    motion model

    Correction step

    sensor or observation model


    11
    Different Realizations
    The Bayes filter is a framework for
    recursive state estimation
    There are different realizations
    Different properties
    Linear vs. non-linear models for motion
    and observation models
    Gaussian distributions only?
    Parametric vs. non-parametric filters

    12
    In this Course
    Kalman filter & friends
    Gaussians
    Linear or linearized models

    Particle filter
    Non-parametric
    Arbitrary models (sampling required)

    13
    Motion Model

    14
    Robot Motion Models
    Robot motion is inherently uncertain
    How can we model this uncertainty?

    15
    Probabilistic Motion Models
    Specifies a posterior probability that
    action u carries the robot from x to x.

    16
    Typical Motion Models
    In practice, one often finds two types
    of motion models:
    Odometry-based
    Velocity-based
    Odometry-based models for systems
    that are equipped with wheel encoders
    Velocity-based when no wheel
    encoders are available

    17
    Odometry Model
    Robot moves from to .
    Odometry information

    18
    Probability Distribution
    Noise in odometry
    Example: Gaussian noise

    19
    Examples (Odometry-Based)

    20
    Velocity-Based Model

    -90

    21
    Motion Equation
    Robot moves from to .
    Velocity information

    22
    Problem of the Velocity-Based
    Model
    Robot moves on a circle
    The circle constrains the final orientation
    Fix: introduce an additional noise term on
    the final orientation

    23
    Motion Including 3rd Parameter

    Term to account for the final rotation

    24
    Examples (Velocity-Based)

    25
    Sensor Model

    26
    Model for Laser Scanners
    Scan z consists of K measurements.

    Individual measurements are


    independent given the robot position

    27
    Beam-Endpoint Model

    28
    Beam-Endpoint Model

    map likelihood field

    29
    Ray-cast Model
    Ray-cast model considers the first
    obstacle long the line of sight
    Mixture of four models

    30
    Feature-based Model for Range-
    Bearing Sensors
    Range-bearing
    Robots pose
    Observation of feature j at
    location

    31
    Summary
    Bayes filter is a framework for state
    estimation
    Motion and sensor model are the
    central models in the Bayes filter
    Standard models for robot motion and
    laser-based range sensing

    32
    Literature
    On the Bayes filter
    Thrun et al. Probabilistic Robotics,
    Chapter 2
    Course: Introduction to Mobile Robotics,
    Chapter 5
    On motion and observation models
    Thrun et al. Probabilistic Robotics,
    Chapters 5 & 6
    Course: Introduction to Mobile Robotics,
    Chapters 6 & 7
    33

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