Localization for the Naos Brian Coltin, Joydeep Biswas, Sooho SPL - - PowerPoint PPT Presentation

Localization for the Naos

Brian Coltin, Joydeep Biswas, Sooho

SPL Soccer – Nao Robots

• Sensors

– Camera – Referee client

• Computation

– x86 AMD GEODE 500 MHz

• Playing

“reasonable soccer” requires:

– Speed

SPL Game Field

Tradeofgs

• Speed of Computation:

– Simplified models – Fewer particles

⇒Inaccuracy

• Speed of Convergence

⇒Loss of diversity

• Accuracy

– Accurate models – More hypotheses

⇒Slow computation

Current Method

• Very large number of particles (worst

case)

• Sensor Resetting
• Adaptive Importance Sampling

Proposed Approach

• Can we do better if the sensor model

includes a “correctional gradient”?

• Questions:

– Will this work? – Will this prematurely get rid of diversity? – Will it provide a noticeable improvement?

• Increased accuracy
• Faster convergence

– Will it be robust to false positives?

Related Work

• Hybrid Monte Carlo [Duane, AD et al., Physics letters B,

1987]

• Rao Blackwellisation (?)