Nao localization: Difference between revisions
From Intelligent Materials and Systems Lab
(Created page with "== Overview == We plan to use a [http://en.wikipedia.org/wiki/Particle_filter particle filter] that gets information from our line detection algorithm and from the estimated p...") |
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We plan to use a [http://en.wikipedia.org/wiki/Particle_filter particle filter] that gets information from our line detection algorithm and from the estimated position change while moving. To estimate the position change, we found a useful function in Aldebaran's API: [http://www.aldebaran-robotics.com/documentation/naoqi/motion/control-walk-api.html#ALMotionProxy::getRobotPosition__bCR ALMotionProxy::getRobotPosition()]. | We plan to use a [http://en.wikipedia.org/wiki/Particle_filter particle filter] that gets information from our line detection algorithm and from the estimated position change while moving. To estimate the position change, we found a useful function in Aldebaran's API: [http://www.aldebaran-robotics.com/documentation/naoqi/motion/control-walk-api.html#ALMotionProxy::getRobotPosition__bCR ALMotionProxy::getRobotPosition()]. | ||
== Position estimation == | == Position change estimation == | ||
The position estimation is not perfect and it is not possible to use it to walk "blindly", but it is decent enough for our needs, because we also use information from the camera. Initial tests show that after a few meters of walking, this method usually accumulates to mistakes around 30 centimeters. | The position change estimation is not perfect and it is not possible to use it to walk "blindly", but it is decent enough for our needs, because we also use information from the camera. Initial tests show that after a few meters of walking, this method usually accumulates to mistakes around 30 centimeters. | ||
Latest revision as of 16:59, 20 June 2013
Overview
We plan to use a particle filter that gets information from our line detection algorithm and from the estimated position change while moving. To estimate the position change, we found a useful function in Aldebaran's API: ALMotionProxy::getRobotPosition().
Position change estimation
The position change estimation is not perfect and it is not possible to use it to walk "blindly", but it is decent enough for our needs, because we also use information from the camera. Initial tests show that after a few meters of walking, this method usually accumulates to mistakes around 30 centimeters.