Introduction to Mobile Robotics Probabilistic Sensor...
Transcript of Introduction to Mobile Robotics Probabilistic Sensor...
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Wolfram Burgard, Cyrill Stachniss, Maren
Bennewitz, Giorgio Grisetti, Kai Arras
Probabilistic Sensor Models
Introduction to Mobile Robotics
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Sensors for Mobile Robots Contact sensors: Bumpers
Internal sensors Accelerometers (spring-mounted masses) Gyroscopes (spinning mass, laser light) Compasses, inclinometers (earth magnetic field, gravity)
Proximity sensors Sonar (time of flight) Radar (phase and frequency) Laser range-finders (triangulation, tof, phase) Infrared (intensity)
Visual sensors: Cameras
Satellite-based sensors: GPS
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Proximity Sensors
The central task is to determine P(z|x), i.e., the probability of a measurement z given that the robot is at position x.
Question: Where do the probabilities come from? Approach: Let’s try to explain a measurement.
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Beam-based Sensor Model
Scan z consists of K measurements.
Individual measurements are independent given the robot position.
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Beam-based Sensor Model
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Typical Measurement Errors of an Range Measurements
1. Beams reflected by obstacles
2. Beams reflected by persons / caused by crosstalk
3. Random measurements
4. Maximum range measurements
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Proximity Measurement
Measurement can be caused by … a known obstacle. cross-talk. an unexpected obstacle (people, furniture, …). missing all obstacles (total reflection, glass, …).
Noise is due to uncertainty … in measuring distance to known obstacle. in position of known obstacles. in position of additional obstacles. whether obstacle is missed.
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Beam-based Proximity Model
Measurement noise
zexp zmax 0
Unexpected obstacles
zexp zmax 0
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Beam-based Proximity Model
Random measurement Max range
zexp zmax 0 zexp zmax 0
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Resulting Mixture Density
How can we determine the model parameters?
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Raw Sensor Data Measured distances for expected distance of 300 cm.
Sonar Laser
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Approximation
Maximize log likelihood of the data
Search space of n-1 parameters. Hill climbing Gradient descent Genetic algorithms …
Deterministically compute the n-th parameter to satisfy normalization constraint.
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Approximation Results
Sonar
Laser
300cm 400cm
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Example
z P(z|x,m)
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Discrete Model of Proximity Sensors
Instead of densities, consider discrete steps along the sensor beam.
Consider dependencies between different cases.
Laser sensor Sonar sensor
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Approximation Results
Laser
Sonar
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Influence of Angle to Obstacle
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Influence of Angle to Obstacle
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Influence of Angle to Obstacle
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Influence of Angle to Obstacle
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Summary Beam-based Model Assumes independence between beams.
Justification? Overconfident!
Models physical causes for measurements. Mixture of densities for these causes. Assumes independence between causes. Problem?
Implementation Learn parameters based on real data. Different models should be learned for different angles at
which the sensor beam hits the obstacle. Determine expected distances by ray-tracing. Expected distances can be pre-processed.
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Scan-based Model
Beam-based model is … not smooth for small obstacles and at edges. not very efficient.
Idea: Instead of following along the beam, just check the end point.
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Scan-based Model
Probability is a mixture of … a Gaussian distribution with mean at distance to
closest obstacle, a uniform distribution for random
measurements, and a small uniform distribution for max range
measurements.
Again, independence between different components is assumed.
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Example
P(z|x,m)
Map m
Likelihood field
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San Jose Tech Museum
Occupancy grid map Likelihood field
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Scan Matching
Extract likelihood field from scan and use it to match different scan.
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Scan Matching
Extract likelihood field from first scan and use it to match second scan.
~0.01 sec
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Properties of Scan-based Model
Highly efficient, uses 2D tables only.
Smooth w.r.t. to small changes in robot position.
Allows gradient descent, scan matching.
Ignores physical properties of beams.
Will it work for ultrasound sensors?
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Additional Models of Proximity Sensors
Map matching (sonar, laser): generate small, local maps from sensor data and match local maps against global model.
Scan matching (laser): map is represented by scan endpoints, match scan into this map.
Features (sonar, laser, vision): Extract features such as doors, hallways from sensor data.
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Landmarks
Active beacons (e.g., radio, GPS) Passive (e.g., visual, retro-reflective) Standard approach is triangulation
Sensor provides distance, or bearing, or distance and bearing.
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Distance and Bearing
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Probabilistic Model
1. Algorithm landmark_detection_model(z,x,m):
2.
3.
4.
5. Return
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Distributions
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Distances Only No Uncertainty
P1 P2 d1 d2
x
X’
a
P1=(0,0)
P2=(a,0)
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P1
P2
D1
z1
z2 α
P3
D2 β
z3
D3
Bearings Only No Uncertainty
P1
P2
D1
z1
z2
α
α
Law of cosine
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Bearings Only With Uncertainty
P1
P2
P3
P1
P2
Most approaches attempt to find estimation mean.
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Summary of Sensor Models
Explicitly modeling uncertainty in sensing is key to robustness.
In many cases, good models can be found by the following approach:
1. Determine parametric model of noise free measurement. 2. Analyze sources of noise. 3. Add adequate noise to parameters (eventually mix in
densities for noise). 4. Learn (and verify) parameters by fitting model to data. 5. Likelihood of measurement is given by “probabilistically
comparing” the actual with the expected measurement.
This holds for motion models as well. It is extremely important to be aware of the
underlying assumptions!