解读DP-SLAM (1)
解读DP-SLAM分为两部分:第一部分是解读论文,第二部分是解读代码。
#1 从Abstract中可以得到一些信息:
(1) a novel laser range finder based algorithm for SLAM
(2) no predetermined landmarks; purely laser based
(3) uses a particle filter to represent
a. robot pose
b.possible map configurations ; called distributed particle (DP) mapping
从Introduction可以得到一些信息:
(1) Even with an accurate laser range finder, map-making presents a difficult challenge:
a. a precision position estimate is required to make consistent updates to the map
b. producing accurate maps in real time, based on a single pass over the sensor data, without an
of line correction phase
(2) A straight forward approach:
localize the robot based upon a particle map and then update the map based upon the maximum
likelihood position of the robot (but errors accumulate over time)
(3) EM algorithm:
it involves an expensive off-line alignment
(4) FastSLAM:
a. does not require explicit loop-closing heuristics
b. using a Rao-Blackwellized particle filter to sample robot poses
c. track the position of a fixed number of predetermined landmarks using a Kalman filter
(5) We present a method:
a. purely laser based an makes no landmark assumptions
b. avoid the data association problem by storing multiple detailed maps instead of sparse landmarks
c. uses a particle filter to represent robots poses and map configuration
d. no assumptions about the environment
e. DP-SLAM could bu further complimented by inclusion of existing algorithms for closing loops
#2 进入文章的第二部分,Particle Filters for Localization and Mapping
#2.1 简介粒子滤波:
Particles: a weighted and normalized set of sampled states, S = {s_1,..,s_m}
滤波过程:
At each, upon observing an observation "o"
1. Samples m new states S' = {s'_1, ..., s'_m} from S with replacement
2. Propagates each new state through a Markovian transition model: P( S''| S')
3. Weights each new state according to a Markovian observation model: P(o|S'')
4. Normalizes the weights for the new set of states
#2.2 简介Particle Filters for Localization (只考虑定位假设地图是已知的):
粒子滤波的基本结构(all of which are noisy):
a. The robot pose is the hidden state to be tracked
b. The state transition is the robot's movement
c. The observation are the robot's sensor readings
小车在2D空间运动模型:
小车在O-XY平面运动,考虑它沿X轴的位移以及速度,沿Y轴的位移及速度,以及小车的转向角度及角速度(相对于X轴的角度)
通过观测数据给粒子加权的方法 (weight the particles based on the robot's current observation):
下次再来讨论