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Markov Localization

Markov Localization. Rowan Wing. Problem. Locate an autonomous mobile robot in a known environment using noisy sensors. Error. Sensors have error that compounds as the robots moves. Background. Internal Sensors ( Odometry ):. Background. External Sensors (Distance Sensors):.

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Markov Localization

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  1. Markov Localization Rowan Wing

  2. Problem Locate an autonomous mobile robot in a known environment using noisy sensors.

  3. Error Sensors have error that compounds as the robots moves.

  4. Background Internal Sensors (Odometry):

  5. Background External Sensors (Distance Sensors):

  6. Original Belief Distance Sensors Odometry

  7. Distance Sensor Updated Belief

  8. It Works!

  9. Bayes’ Rule Original Belief From Data Answer (Updated Belief) Ignore (for now)

  10. Example No information at first:

  11. Use Odometry

  12. Use Distance Sensor

  13. (Distance Sensor) = * (Updated Belief) (Odometry)

  14. References Pictures taken from: Autonomous Mobile Robots R. Siegwart, I. Nourbakhsh, D. Scaramuzza

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