SLAM经典入门教程.docx

Simultaneous Localization and Mapping (SLAM) Lecture 01 Introduction SLAM Objective Place a robot in an unknown location in an unknown environment and have the robot incrementally build a map of this environment while simultaneously using this map to compute vehicle location SLAM began with seminal paper by R. Smith, M. Self, and P. Cheeseman in 1990 A solution to SLAM has been seen“HolyGrailasthe” –Would enable robots to operate in an environmentapriori without knowledge of obstacle locations ? Research over the last decade has shown that a solution is possible!! The Localization Problem Defined A mapof landmark locations is known a priori Take measurements of landmarkz(i.locatione.distance and bearing) Determine vehicle locationxkbased onk z –Need filter if sensor is noisy! xk: location of vehicle at time k uk: a control vector applied at k-1 to drive the vehicle fromk-1to xk zk: observation of a landmark taken at time k Xk: history of states {x 1, x2, x3, ?,xk} ? Uk: history of control inputs {u 1, u2, u3, ?,uk} m: set of all landmarks The Mapping Problem Defined k ? The vehicle locationsXare provided ? Take measurement of landmarkz(i.locatione.distance and bearing) ? Build mapbased on onk z –Need filter if sensor is noisy! Xk: history of states {x 1, x2, x3, ?,xk} zk: observation of a landmark taken at time k mi: true location ofththelandmarki m: set of all landmarks Simultaneous Localization and Mapping Defined k ? From knowledge of observationsZ k –Determine vehicle locationsX –Build mapof landmark locations xk: location of vehicle at time k uk: a control vector applied at k-1 to drive the vehicle fromk-1to xk th ? mi: true location oflandmarki ? zk: observation of a landmark taken at time k ? Xk: history of states {x 1, x2, x3, ?,xk} ? Uk: history of control inputs {u 1, u2, u3, ?,uk} m: set of all landmarks Zk: history of all observations {z 1, z2, ?,zk} H. Durrant-Whyte, D. Rye, “E.LocalisationNebot, of Automatic GuidedVehiclesISRR”,1995 Simultaneous