Notice
3.8. Applications of the Observability Rank Criterion
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Descriptif
In this video we want to apply theobservability rank criterion to understand theobservability properties of the system that we saw in theprevious videos.
Thème
Documentation
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Avec les mêmes intervenants et intervenantes
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3.6. Observability in robotics
MARTINELLI Agostino
In this video we discuss a fundamental issue which arises when we deal with an estimation problem: understanding if the system contains enough information to perform the estimation of the state.
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3.7. Observability Rank Criterion
MARTINELLI Agostino
In this video, we discuss an automatic method which is analytical and allows us to answer the question if a state is observable or not: this method is the Observability Rank Criterion which has
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3.2. Examples for the Perception in the EKF
MARTINELLI Agostino
In this video we discuss the second two equations of the Kalman filter.
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3.5. Simultaneous Localization and Mapping (SLAM)
MARTINELLI Agostino
In this video, we are discussing the SLAM problem: simultaneous localization and mapping.
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3.3. The EKF is a weight mean
MARTINELLI Agostino
In this video I want to discuss the second two equations of the Kalman filter. And in particular I want to show that these actually perform a kind of weight mean.
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3.1. Examples for the Action in the EKF
MARTINELLI Agostino
In part 2, we have seen the equations of the Bayes filter, which are the general equations which allow us to update the probability distribution, as the data from both proprioceptive sensors and
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3.4. The use of the EKF in robotics
MARTINELLI Agostino
In this video I want to explain the steps that we have to follow in order to implement an extended Kalman filter in robotics.
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2.5. Reminds on probability
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In this sequence I want to remind you a few concepts in the theory of probability and then in the next one we finally derive the equations of the Bayes filter. So the concept that I want to
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2.3. Wheel encoders for a differential drive vehicle
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In this video, we want to discuss the case of a wheel encoders in 2D, and in particular the case of a robot equipped with a differential drive which is very popular in mobile robotics.
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2.8. The Extended Kalman Filter (EKF)
MARTINELLI Agostino
We have seen the grid localization, and the advantage of this approach is that we can deal with any kind of probability distribution; in particular we don't need to do a Gaussian assumption. The
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2.7. Grid Localization: an example in 1D
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Now that we have the equations of the Bayes filter, we need a method in order to implement in real cases these equations. So, in the following, I want to discuss two methods, which are commonly
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2.4. Sensor statistical models
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So far in the characterization of our sensor measurements, we didn't talk about the errors. This is precisely what we want to do in this video. In particular, we want to compute two probability
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