particle filter localization for auvs
DESCRIPTION
Senior thesis presentationTRANSCRIPT
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Particle Filter Localizationfor Autonomous AUVs
Using Augmented Reality Tags
Ed Kelley, 2013Szymon Rusinkiewicz
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aka
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Where is the
Quadcopter?
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Motivation
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Thisstatueiscool
http://www.asergeev.com/pictures/archives/2007/572/jpeg/05.jpg
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I want a 3d model
http://www.asergeev.com/pictures/archives/2007/572/jpeg/05.jpg
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Video GamesVirtual Reality
MoviesArcheology
ArchitectureMaps
Crash Scenes
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Manual Modeling?Laser Scanner?
Multi-View Stereo?Microsoft Kinect?
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Manual Modeling?Laser Scanner?
Multi-View Stereo?Microsoft Kinect?
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Irschara et al. 2010
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EasyCheapCompleteHigh Quality
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Quadcopters!
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Related Work
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Irschara et al.
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Engel et al.
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Bills et al.
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System Design
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AR.Drone 2.0
http://ardrone2.parrot.com/photos/photo-album/
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Localization + Controller = Autonomy
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Localization
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Local
drift.
tendto
measurements
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No GPSNo rangefinders
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Kalman Filter?Grid Based Markov?
Particle Filter?
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Kalman Filter?Grid Based Markov?
Particle Filter?
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. This isa particle
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. It representsa possiblepose
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. xyzheadingweight
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Prediction StepUpdate the position of each particle using noisy velocity and gyroscope readings.
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Correction Step1. 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.
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Correction Step4. 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.
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EstimateUse a linear combination of the particle values to create an estimated pose.
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Testing
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Gyroscope
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Ultrasound
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AR Tag
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AR Tag
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AR Tag
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AR Tag
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Manual Flight Test
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Conclusion
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Particle filter localization using augmented reality tags
performs substantially better than integrated velocity alone.
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AR Tags are highly dependent
on lighting.
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Its called Hardwarefor a reason.
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Next steps...
Full integration with controller.
Modeling objects.
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Thanks!