CSE-571 Robotics. Ball Tracking in RoboCup. Tracking Techniques. Rao-Blackwelized Particle Filters for State Estimation
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1 CSE-571 Rootcs Rao-Blacwelzed Patcle Fltes fo State Estaton Ball Tacng n RooCup Exteely nosy nonlnea oton of oseve Inaccuate sensng lted pocessng powe Inteactons etween taget and Goal: envonent Unfed faewo fo odelng the all Inteactons and etween ts nteactons. oots and taget Dete Fox CSE-571: Poalstc Rootcs 2 Tacng Technques Dynac Bayes Netwo fo Ball Tacng Kalan Flte Hghly effcent oust even fo nonlnea Un-odal lted handlng of nonlneates Patcle Flte Less effcent hghly oust Mult-odal nonlnea non-gaussan Rao-Blacwellsed Patcle Flte MHT Cones PF wth KF Mult-odal hghly effcent u -2 u z -2 z -1 z Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball osevaton Ball tacng Root localzaton Dete Fox CSE-571: Poalstc Rootcs 3 Dete Fox CSE-571: Poalstc Rootcs 4 1
2 Root Locaton Root and Ball Locaton and velocty u -2 u Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton u -2 u Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton z -2 z -1 z Ball osevaton z -2 z -1 z Ball osevaton Dete Fox CSE-571: Poalstc Rootcs 5 Dete Fox CSE-571: Poalstc Rootcs 6 Ball-Envonent Inteactons Ball-Envonent Inteactons 0.8 esdual po. Root loses ga 0.2 None Gaed None Wthn ga ange and oot gas po. fo odel Gaed Kc fals 0.1 Root cs all 0.9 Bounced Deflected Kced Bounced Deflected Kced Dete Fox CSE-571: Poalstc Rootcs 7 Dete Fox CSE-571: Poalstc Rootcs 8 2
3 Integatng Dscete Ball Moton Mode Ga Exaple u -2 u Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton u -2 u Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton z -2 z -1 z Ball osevaton z -2 z -1 z Ball osevaton Dete Fox CSE-571: Poalstc Rootcs 9 Dete Fox CSE-571: Poalstc Rootcs 10 Ga Exaple 2 Infeence: Posteo Estaton u -2 u Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton u -2 u Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton z -2 z -1 z Ball osevaton z -2 z -1 z Ball osevaton Dete Fox CSE-571: Poalstc Rootcs 11 l p z1 : z1: u1: -1 Dete Fox 12 3
4 Rao-Blacwellsed PF fo Infeence Repesent posteo y ando saples Each saple s = = x y q µ S contans oot locaton all ode all Kalan flte Geneate ndvdual coponents of a patcle stepwse usng the factozaton p p 1: 1: 1: 1: z z 1: 1: u u 1: -1 1: -1 = p 1: 1: z 1: u 1: -1 p 1: z 1: u 1: -1 Dete Fox CSE-571: Poalstc Rootcs 13 Rao-Blacwellsed Patcle Flte fo Infeence Map and oot locaton Ball oton ode Ball locaton and velocty Daw a saple fo the pevous saple set: Dete Fox CSE-571: Poalstc Rootcs 14 Ball tacng Root localzaton Geneate Root Locaton Geneate Ball Moton Model u -1 Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton u -1 Landa detecton Map and oot locaton Root contol Ball oton ode Ball locaton and velocty Ball tacng Root localzaton ~ p z u Þ Dete Fox CSE-571: Poalstc Rootcs 15 ~ p z u Þ Dete Fox CSE-571: Poalstc Rootcs 16 _ 4
5 5 Update Ball Locaton and Velocty -1-1 u -1 z -1 Ball locaton and velocty Ball oton ode Map and oot locaton Root contol Landa detecton Ball tacng Root localzaton l z 1 ~ z p Þ - Dete Fox 17 CSE-571: Poalstc Rootcs Ipotance Resaplng Weght saple y f osevaton s landa detecton and y f osevaton s all detecton. Resaple l z w µ p p z p z p w d = ò µ Dete Fox 18 CSE-571: Poalstc Rootcs Ball-Envonent Inteacton Dete Fox 19 CSE473: Intoducton to AI Ball-Envonent Inteacton Dete Fox 20 CSE473: Intoducton to AI
6 Tacng and Fndng the Ball Cluste all saples y dscetzng pan / tlt angles Uses negatve nfoaton Dete Fox CSE-571: Poalstc Rootcs 21 Expeent: Real Root Root cs all 100 tes tes to fnd t aftewads Fnds all n 1.5 seconds on aveage Pecentage of all lost Wth Map Wthout Map Dete Fox Nue of all saples 22 Sulaton Runs Refeence * Osevatons Copason to KF* optzed fo staght oton RBPF KF* Refeence * Osevatons Dete Fox CSE-571: Poalstc Rootcs 23 Dete Fox CSE-571: Poalstc Rootcs 24 6
7 Copason to KF nflated pedcton nose Eo vs. Pedcton Te RBPF KF Refeence * Osevatons RMS Eo [c] RBPF KF' KF* Pedcton te [sec] Dete Fox CSE-571: Poalstc Rootcs 25 Dete Fox CSE-571: Poalstc Rootcs 26 Oentaton Eos Goale Oentaton Eo [degees] RBPF KF* KF' Te [sec] Dete Fox CSE-571: Poalstc Rootcs 27 Dete Fox CSE-571: Poalstc Rootcs 28 7
8 Dscusson Patcle fltes ae ntutve and sple Suppot pont-wse thnng educed uncetanty Good fo test pleentaton f syste ehavo s not well nown Ineffcent copaed to Kalan flte Rao-Blacwellzaton Only saple dscete / hghly non-lnea pats of state space Solve eanng pat analytcally KFdscete Dete Fox CSE-571: Poalstc Rootcs 29 8
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