Recommandé
Contenu connexe
Similaire à Particle Filter Localization for AUVs
Similaire à Particle Filter Localization for AUVs (20)
Dernier
Dernier (20)
Particle Filter Localization for AUVs
- 1. ParticleFilterLocalization forAutonomousAUVs UsingAugmentedRealityTags Ed Kelley, 2013 Szymon Rusinkiewicz
- 2. aka
- 4. Motivation
- 8. Manual Modeling? Laser Scanner? Multi-View Stereo? MicrosoftKinect?
- 9. Manual Modeling? Laser Scanner? Multi-View Stereo? MicrosoftKinect?
- 10. Irschara et al. 2010
- 12. Quadcopters!
- 13. RelatedWork
- 14. Irschara et al.
- 15. Engel et al.
- 16. Bills et al.
- 17. SystemDesign
- 21. Localization
- 25. Kalman Filter? Grid Based Markov? ParticleFilter?
- 26. Kalman Filter? Grid Based Markov? ParticleFilter?
- 30. PredictionStepUpdate the position of each particle using noisy velocity and gyroscope readings.
- 31. CorrectionStep 1. Check for an augmented reality tag. 2. Calculate transformation from camera to tag. 3. Use known coordinates of the tag to calculate the position of the quadcopter.
- 32. CorrectionStep 4. Weight the particles using their similarity to this calculated position. 5. Perform weighted resampling of the particles. 6. With some probability, replace particles with this calculated position.
- 33. Estimate Use a linear combination of the particle values to create an estimated pose.
- 34. Testing
- 35. Gyroscope
- 36. Ultrasound
- 37. AR Tag
- 38. AR Tag
- 39. AR Tag
- 40. AR Tag
- 41. ManualFlightTest
- 47. Conclusion
- 52. Thanks!