Learn about the unique challenges that autonomous vehicles face in distribution centers and some innovative solutions to address them. Technical topics that will be covered at this event include Robotics, Computer Vision, Object Detection, and SLAM. Talk: "Where am I? Robot localization with AMCL" [Chris Cacioppo & Dan Winkler] AMCL is a common method of localization. In this talk we will explain the concepts so that anyone can understand how it works. This will be followed by a deeper dive into the algorithm and how to make it work effectively. Speaker Bios: Chris Cacioppo CTO and Co-Founder of 6 River Systems previously led engineering at Mimio. He holds multiple patents across hardware, firmware, software, and design. Chris is a University Scholar at the University of Connecticut and earned an M.S. in Electrical Engineering/Computer Science at MIT. Dan Winkler Prior to joining 6 River Systems, Dan was the chief technology officer at Mimio. He joined Mimio as one of its first software engineers, and was involved in all facets of the development process at the company, including product research, competitive reviews, user studies, software architecture, technical documentation, user experience and interface design, information technology and management.

1. Where am I? Robot
localization with
AMCL
Waltham, MA
October 2015Fulfillment. Redefined.
https://www.meetup.com/bostonav/events/249203341/

2. Introductions
2-- Confidential. Property of 6 River Systems © 2017 --
Christopher Cacioppo
CTO & Co-Founder
Dan Winker
Head of Robotics (and other things)

3. Localization
3-- Confidential. Property of 6 River Systems © 2017 --
What is localization?
How is it different from navigation?
How accurate do you need to be?

4. Dead Reckoning
4-- Confidential. Property of 6 River Systems © 2017 --

5. Simplify the problem
5-- Confidential. Property of 6 River Systems © 2017 --

6. Variations in the Environment
6-- Confidential. Property of 6 River Systems © 2017 --

7. Too much variation
7-- Confidential. Property of 6 River Systems © 2017 --

8. Our world is based on physics
8-- Confidential. Property of 6 River Systems © 2017 --
X

9. Too much variation - Ok for a bit
9-- Confidential. Property of 6 River Systems © 2017 --

10. Eventually Lost
10-- Confidential. Property of 6 River Systems © 2017 --

11. Kidnapped Robot Problem
11-- Confidential. Property of 6 River Systems © 2017 --

12. AMCL Overview
Adaptive Monte Carlo Localization
Particle

13. AMCL Overview
Algorithm
Sensor Update
Weight particles based on
likelihood of sensor reading.
Motion Update
(Prediction)
Each particles position updated
based on odometry (w/ noise).
Resampling
Generate new particles with more particles
around the previous particles with more weigh

14. Dead Reckoning (Odometry)
14-- Confidential. Property of 6 River Systems © 2017 --

15. Particles
(Pose Estimates)
Odometry Change
Motion Update
Updated Particles
10cm forward

16. Sensor Update
mapmap
sensor
sensor
sensor
weight: 1 weight: 4weight: 45

17. Resampling
Particles are
resampled based on
weight
mapmap
sensor
sensor
sensor
particles before: 100
weight: 1
particles after: 6
particles before: 100
weight: 4
particles after: 24
particles before: 100
weight: 45
particles after: 270

18. Variations in the Environment
18-- Confidential. Property of 6 River Systems © 2017 --

19. Eventually Lost
19-- Confidential. Property of 6 River Systems © 2017 --

20. Global Localization
20-- Confidential. Property of 6 River Systems © 2017 --

21. Tuning the filter
21-- Confidential. Property of 6 River Systems © 2017 --
Algorithm
Sensor Model
Particle weighting
Motion Model
Odometry Error
Resampling
Generate new particles with more particles
around particles with more weight

22. Tuning Example
22-- Confidential. Property of 6 River Systems © 2017 --

23. Tuning the particle filter (resampling)
23
● Number of particles
● Update frequency
● Testing & Iterating (most important!)