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09d Ekf Localization

Lecture slides on extended kalman filter localization techniques. Slides in coordination with the text, Probabilistic robotics.

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lucbettaieb
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52 views38 pages

09d Ekf Localization

Lecture slides on extended kalman filter localization techniques. Slides in coordination with the text, Probabilistic robotics.

Uploaded by

lucbettaieb
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Introduction to

Mobile Robotics
EKF Localization
Wolfram Burgard, Cyrill Stachniss,
Maren Bennewitz, Kai Arras

Slides by Kai Arras and Wolfram Burgard


Last update: June 2010

Localization
Using sensory information to locate the robot
in its environment is the most fundamental
problem to providing a mobile robot with
autonomous capabilities.
[Cox 91]

Given
Map of the environment.
Sequence of sensor measurements.

Wanted

Estimate of the robots position.

Problem classes

Position tracking
Global localization
Kidnapped robot problem (recovery)

Landmark-based Localization
EKF Localization: Basic Cycle

Landmark-based Localization
EKF Localization: Basic Cycle

Landmark-based Localization
EKF Localization: Basic Cycle
encoder measurements

posterior
state

innovation from
matched landmarks

predicted
state
landmarks in global
coordinates
predicted
measurements in
sensor coordinates

landmarks

raw sensory data


5

Landmark-based Localization
State Prediction (Odometry)

Control

uk: wheel displacements sl , sr

Error model: linear growth

Nonlinear process model

f:

Landmark-based Localization
State Prediction (Odometry)

Control

uk: wheel displacements sl , sr

Error model: linear growth

Nonlinear process model

f:

Landmark-based Localization
Landmark Extraction (Observation)
Raw laser
range data

Extracted
lines

Extracted lines
in model space

Hessian line model


8

Landmark-based Localization
Measurement Prediction
...is a coordinate frame transform world-to-sensor
Given the predicted state (robot pose),
predicts the location
and location
uncertainty
of expected
observations in sensor coordinates

model space

Landmark-based Localization
Data Association (Matching)
Associates predicted measurements
with observations

model space

Innovation

and innovation
covariance

Matching on
significance
level alpha

Green: observation
Magenta: measurement prediction

10

Landmark-based Localization
Update
Kalman gain

State update (robot pose)

State covariance update

Red: posterior estimate


11

Landmark-based Localization
EKF Localization with Point Features

1. EKF_localization ( t-1, t-1, ut, zt, m):


Prediction:

2.

3.

4.

Jacobian of g w.r.t location

Bt

g(ut , t1 )
ut

x'

v t
y'
=
v t
'

v t

( | v | + | |) 2
2
t
Qt = 1 t
0

2
( 3 | v t | + 4 | t |)

6.

Jacobian of g w.r.t control

Motion noise
Predicted mean

5.

x'

t
y'
t
'

t = Gt t1GtT + Bt Qt BtT

Predicted covariance

1. EKF_localization ( t-1, t-1, ut, zt, m):


Correction:

2.

Predicted measurement mean

Jacobian of h w.r.t location

3.
4.

r2 0
Rt =
2
0 r

T
S
=
H

H
5. t
t t t + Rt

Innovation covariance

6.

Kalman gain

7.

Updated mean

8.

Updated covariance

EKF Prediction Step

EKF Observation Prediction Step

EKF Correction Step

Estimation Sequence (1)

Estimation Sequence (2)

Comparison to GroundTruth

EKF Localization Example


[Arras et al. 98]:
Laser range-finder and vision

High precision (<1cm accuracy)

Courtesy of K. Arras

EKF Localization Example

Line and point landmarks

EKF Localization Example

Line and point landmarks

EKF Localization Example


Expo.02: Swiss National Exhibition 2002
Pavilion "Robotics"
11 fully autonomous robots
tour guides, entertainer, photographer
12 hours per day
7 days per week
5 months
3,316 km travel distance
almost 700,000 visitors
400 visitors per hour
Localization method: Line-Based EKF

EKF Localization Example

Global EKF Localization


Interpretation tree

26

Global EKF Localization


Env. Dynamics

27

Global EKF Localization


Geometric constraints we can exploit

Location independent constraints


Unary constraint:
intrinsic property of feature
e.g. type, color, size
Binary constraint:
relative measure between features
e.g. relative position, angle

All decisions on a significance level


28

Global EKF Localization


Interpretation Tree
[Grimson 1987], [Drumheller 1987],
[Castellanos 1996], [Lim 2000]

Algorithm
backtracking
depth-first
recursive
uses geometric constraints
worst-case exponential
complexity

29

Global EKF Localization

Pygmalion

= 0.95 , p = 2

30

Global EKF Localization

Pygmalion

= 0.95 , p = 3

31

Global EKF Localization

Pygmalion

texe: 633 ms

= 0.95 , p = 4

PowerPC at 300
MHz
32

Global EKF Localization

Pygmalion

= 0.95 , p = 5
texe: 633 ms (PowerPC at 300 MHz)

33

Global EKF Localization


At Expo.02

05.07.02, 17.23 h

= 0.999
[Arras et al. 03]

Global EKF Localization


At Expo.02

05.07.02, 17.23 h

= 0.999
[Arras et al. 03]

texe = 105 ms

Global EKF Localization


At Expo.02

05.07.02, 17.32 h

= 0.999
[Arras et al. 03]

Global EKF Localization


At Expo.02

05.07.02, 17.32 h

= 0.999
[Arras et al. 03]

texe = 446 ms

EKF Localization Summary


EKF localization implements pose tracking
Very efficient and accurate
(positioning error down to subcentimeter)

Filter divergence can cause lost situations from


which the EKF cannot recover

Industrial applications
Global EKF localization can be achieved using
interpretation tree-based data association

Worst-case complexity is exponential


Fast in practice for small maps

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