• Insufficient GPS accuracy
• No GPS indoors
• Random cleaning patterns of roomba

• Aspects to mapping

  • Localisation
  • Mapping
  • Simultaneous Localisation and Mapping SLAM

• Type of maps

  • Geometric mapping
  • Topological mapping

Sliding scale of autonomy Teleoperation Way point/pose navigation supervised autonomous exploration Full autonomy

• Occupancy Grids

• Map updates

  • log likelihood update

• Normally insufficient on its own for map building

• Good for providing high speed initial guess

• Sources of odometry

  • wheel encoders
  • IMU, gyroscopes
  • Combination of IMU and wheel encoders can be good

Scan matching

ICP derivation

Derivation of point-to-plane minimization by Szymon Rusinkiewicz ICP derivation

References Generalized ICP by A. Segal, D. Haehnel and S. Thrun

System Message: ERROR/3 (<string>, line 64)

Unknown directive type "math".

.. math:: x^2 + 4

some inline mathematics ( x^2 + 4 )

Using the math directive

System Message: ERROR/3 (<string>, line 77)

Error in "image" directive: no content permitted.

.. image:: /jcr/active/edgevoxels/figures/mason2011_hallway_edgemap.png
    :scale: 50

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Bobcat Demo

This is an autonomous bobcat

• Localisation by RTK GPS
• Volumetric point cloud map

Random Sample Consensus

System Message: ERROR/3 (<string>, line 99)

Unknown directive type "code-block".

.. code-block:: python

    for i in range(10):
        print i

Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms Hugh Durrant-Whyte, Fellow, IEEE, and Tim Bailey

CS 287: Advanced Robotics, Fall 2009

http://www.cs.berkeley.edu/~pabbeel/cs287-fa09/#syllabus

Lecture on State estimation:mapping

http://www.cs.berkeley.edu/~pabbeel/cs287-fa11/#syllabus