Autonomous Intelligent Robotics Instructor: Shiqi Zhang - - PowerPoint PPT Presentation

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Jan 26, 2023 160 likes •274 views

Spring 2018 CIS 693, EEC 693, EEC 793: Autonomous Intelligent Robotics Instructor: Shiqi Zhang http://eecs.csuohio.edu/~szhang/teaching/18spring/ Issues observed in Readings 1&2 Too much rewordings and summaries Questions from

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Spring 2018 CIS 693, EEC 693, EEC 793:

Autonomous Intelligent Robotics

Instructor: Shiqi Zhang

http://eecs.csuohio.edu/~szhang/teaching/18spring/

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Issues observed in Readings 1&2

Too much rewordings and summaries
Questions from nowhere

– “I don't understand this sentence” without context

Definition questions

– Google scholar, Wikipedia, Academic Microsoft

Reader-unfriendly format

– Super long paragraphs – Better to highlight your questions

Readings are never perfect

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Particle filter: the algorithm

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Another example from Microsoft (2012)

Check the 3rd view video Phone-based indoor localization

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Another robot localization (and navigation) video in 2013

https://youtu.be/WIsnTCtDcUM

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How does the number of samples affect the performance of the algorithm?

KLD-sampling: Adaptive particle filters

Fox, Dieter. "Adapting the sample size in particle filters through KLD-sampling." The international Journal of robotics research 22, no. 12 (2003): 985-1003. https://rse-lab.cs.washington.edu/projects/mcl/

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ROS AMCL at a glance

More info available here: http://wiki.ros.org/amcl

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Robot localization using ROS AMCL

https://youtu.be/NqJ3fi547uY

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