exercise 4: line-based extended kalman filter for robot localization · 2017-04-25 · simulink...
TRANSCRIPT
![Page 1: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/1.jpg)
||Autonomous Systems Lab
Timo Hinzmann, Lucas Teixeira
25.04.2017Timo Hinzmann 1
Autonomous Mobile Robots
Exercise 4: Line-based Extended Kalman Filter
for Robot Localization
![Page 2: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/2.jpg)
||Autonomous Systems Lab
Kalman Filter
![Page 3: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/3.jpg)
||Autonomous Systems Lab
State & Covariance Prediction/Propagation
![Page 4: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/4.jpg)
||Autonomous Systems Lab
State & Covariance Prediction/Propagation
![Page 5: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/5.jpg)
||Autonomous Systems Lab
State & Covariance Prediction/Propagation
![Page 6: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/6.jpg)
||Autonomous Systems Lab
State & Covariance Prediction/Propagation
![Page 7: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/7.jpg)
||Autonomous Systems Lab
State & Covariance Prediction/Propagation
![Page 8: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/8.jpg)
||Autonomous Systems Lab
State Update: Measurement Function
![Page 9: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/9.jpg)
||Autonomous Systems Lab
State Update: Measurement Function
![Page 10: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/10.jpg)
||Autonomous Systems Lab
State Update: Measurement Function
![Page 11: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/11.jpg)
||Autonomous Systems Lab
State Update: Measurement Association
![Page 12: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/12.jpg)
||Autonomous Systems Lab
State Update
![Page 13: Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink Library SIMULIN vrep Preferences Set Path Parallel Help ENVIRONMENT ethzasl amr solution4](https://reader030.vdocuments.site/reader030/viewer/2022040915/5e8c3c6b3a6e422c656fc01d/html5/thumbnails/13.jpg)
||Autonomous Systems Lab
Final EKF solution
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||Autonomous Systems Lab
V-Rep Simulation