机器人学 —— 机器人感知(Gaussian Model)

  机器人感知是UPNN机器人专项中的最后一门课程,其利用视觉方法来对环境进行感知。与之前提到的机器人视觉不同,机器人感知更侧重于对环境物体的识别与检测。与计算机视觉不同,机器人视觉所识别的物体往往不需要高精度测量,物体也有明显特征。机器人感知最为典型的应用是对环境的感知 —— SLAM,同步定位与地图构建。如果说机器人视觉解决了where am I的问题,那么Robotic Perception 面对的是Who is it.

1、1D Gaussian

  感知要解决的是对环境识别的问题,沿着PGM的思路往下,识别就是算概率。对于一般的识别任务,比如识别一个自然环境中的网球,可以对网球的颜色进行建模。为了符合人们的感知,可以先将RGB图像转为HSI图像,其中色度Hue,就与亮度解耦,成为一个不变量了。其只和材质与光照条件有关。一个物体如果颜色是统一的,那么其 H 会满足Gaussian分布。只需要从训练集中提取这个分布,就可以用于判别场景中是否存在这个物体。

2、mutiple Gaussian

  mutiple Gaussian 对应的是多变量高斯模型。多变量高斯模型分为相关和不相关两种,具体表现在协方差矩阵上。其分布均值是样本均值,其方差是样本的协方差矩阵!

3、Expecatation Maxiumazition

  EM算法是无监督学习中非常重要的一种算法。其可以分解成两个步骤——E step, M step

  其中,E step 表示的是由 label ---> parameters. label 不一定是01样本,也可以是各个样本的概率。如果是概率样本,则可以使用 weighted Gaussian estimation 来估计parameters:具体算法见PGM week9 Homework in OSChina.

  M step 表示的是由parametes ---> label. 也就是对当前的参数来计算样本各个label的概率。

  如此往复最终可获得稳定的分类结果。需要指出的是EM算法对初始label 非常敏感。如果是当量样本中有少量缺失标记,EM算法可以很好的满足需求。如果纯聚类,则可考虑使用其他聚类算法先给出聚类结果,再利用EM来进行优化。 

  

  

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We review the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are a family of probabilistic graphical models, other examples of which are Bayesian networks and Markov random fields, well known from the statistical modeling and machine learning literature. They provide a powerful abstraction that gives insight into particular inference problems, making it easier to think about and design solutions, and write modular software to perform the actual inference. We illustrate their use in the simultaneous localization and mapping problem and other important problems associated with deploying robots in the real world. We introduce factor graphs as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them.We explain the nonlinear optimization techniques for solving arbitrary nonlinear factor graphs, which requires repeatedly solving large sparse linear systems. The sparse structure of the factor graph is the key to understanding this more general algorithm, and hence also understanding (and improving) sparse factorization methods. We provide insight into the graphs underlying robotics inference, and how their sparsity is affected by the implementation choices we make, crucial for achieving highly performant algorithms. As many inference problems in robotics are incremental, we also discuss the iSAM class of algorithms that can reuse previous computations, re-interpreting incremental matrix factorization methods as operations on graphical models, introducing the Bayes tree in the process. Because in most practical situations we will have to deal with 3D rotations and other nonlinear manifolds, we also introduce the more sophisticated machinery to perform optimization on nonlinear manifolds. Finally, we provide an overview of applications of factor graphs for robot perception, showing the broad impact factor graphs had in robot perception. (只有第一章内容,我也才发现)

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