Agenda Mobile Robots

Agenda March 29, 2021

1_Go Over HW 5 1 & 1a_5437_HW5_Answers_TLH.pdf

1b_Good_Sensor References for HW5.pdf

2_Talk about Project HW6 Due in 2 weeks

2a_Example Projects (See Folder Examples)

2b_New Research in Mobile_References.pdf

3_ Let’s See a Few Examples of Robot Navigation

My Introduction to Navigation Slides

IntroToNavigation_Presentation1.pptx

4_SLAM Examples from Textbook Page 145 to 200 in Textbook

5_Goebel Parameters

Goebel_ROS_SLAM.docx

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6_Useful SLAM Article Cyrill, John, and Sebastian

46.2 The Three Main SLAM Paradigms

Thurn_ProbabilisticRoboticsTheBook.pdf

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AGENDA CENG 5437 March 22, 2021 HW5 Due

REMIND ME TO RECORD WHEN NECESSARY. TURN OFF MY MIKE FOR

YOUTUBES!

1_5437_4391_Review_3_22_2021_Presentation1.pdf

2_5437_4391_Review_3_22_2021_FromMarch1_Presentation2.pdf

HOW DO ROBOTS NAVIGATE?

"Little Lost Robot" is a science fiction short story by American writer Isaac Asimov. It was first

published in the March 1947 issue of Astounding Science Fiction and reprinted in the collections I,

Robot (1950), The Complete Robot (1982), Robot Dreams (1986), and Robot Visions (1990).

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A few Definitions: Gaussian, Variance, Covariance

Odometry Errors and Variance:

3_Navigation_OdometryErrors&Variance3_22_2021Presentation1.pdf

(References Below)

SHOW MATLAB

4_Cook_varianceFiltered.pdf

Cook_varianceFiltered.m (Code and figures Below)

5_SensorFusion 5_sensor Fusion_References_3_2021.pdf

Play for about 4 minutes – MATLAB Tech Talk #1 Sensor Fusion

https://www.youtube.com/watch?v=6qV3YjFppuc&t=678s

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References for Navigation_Odometry_Errors Presentation_1 Magnus – DD Robot

https://www.youtube.com/watch?app=desktop&v=aE7RQNhwnPQ&sns=em

https://link.springer.com/chapter/10.1007/978-3-319-62533-1_5

Accurate odometry and error modelling for a mobile robot

https://www.google.com/search?q=accurate+odometry+and+error+modelling+f

or+a+mobile+robot&rlz=1C1GCEB_enUS887US887&oq=Accurate+odometry+and

+error+modeling&aqs=chrome.1.69i57j0i22i30.11974j1j15&sourceid=chrome&ie

=UTF-8

Aaron Becker

MATLAB

Nikolaus Correll 673 subscribers

The error propagation law explained in one and multiple dimensions using odometry as the running example. Matlab code is available on github. https://github.com/correll/Introducti...

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https://www.youtube.com/watch?v=ubg_AAM7Zd8 29:20

https://github.com/Introduction-to-Autonomous-Robots/Introduction-to-Autonomous-

Robots/tree/master/matlab

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Agenda Mobile Robots

March 8, 2021

Sensor Characteristics 2_SensorCharacteristicsPresentationiss_l2_Laplace.pdf

3_SensorsErrors2__Examples_Nike_TLH_AtoD.pdf

Sensor_Errors_Examples_Niku_R_AtoD

Niku and TLH Examples

Comparison of Types of Sensors

Sensor Chart from TI 4_SensorSummaryRadaretcChart.pdf

Let’s Drive

5_SensorsForSelfDrive_Videos_SP2021.pdf

How do self-driving cars “see”? - Sajan Saini 310,437 views •May 13, 2019 5:24 https://www.youtube.com/watch?v=PRg5RNU_JLk

TAKE A LOOK AT THE LIDAR AND INTEGRATED PHOTONICS TECHNOLOGIES THAT HELP SELF-DRIVING CARS

NAVIGATE OBSTACLES, NO MATTER THE ENVIRONMENT, WEATHER OR LIGHT.

Elon Musk on Cameras vs LiDAR for Self Driving and Autonomous Cars 149,830 views •Apr 27, 2019 10:23 See why Elton Musk thinks Cameras are better than Lidar sensors.

https://www.youtube.com/watch?v=HM23sjhtk4Q

TESLA AND ELON MUSK OUTLINE WHY THEY BELIEVE CAMERAS (VS LIDAR) ARE ALL THAT IS NEEDED FOR FULL SELF

DRIVING DURING THE TESLA AUTONOMY DAY FOR INVESTORS ON APRIL 22, 2019. ELON ALSO TOUCHES ON WHY

THEY DON'T CONSIDER HD MAPS AND PRECISION LANE MARKINGS TO BE ELON MUSK SAYS LIDAR "IS A FOOL’S

ERRAND" AND THAT ANYONE USING LIDAR IS "DOOMED."

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HE GOES ON TO SAY THAT THEY ARE "EXPENSIVE SENSORS THAT ARE UNNECESSARY. IT’S LIKE HAVING A WHOLE

BUNCH OF EXPENSIVE APPENDICES. LIKE, ONE APPENDIX IS BAD, WELL NOW YOU HAVE A WHOLE BUNCH OF THEM,

IT’S RIDICULOUS, YOU’LL SEE." THERE QUITE A BIT OF DEBATE IN THE SELF-DRIVING WORLD WHETHER LIDAR IS

TRULY REQUIRED FOR FULL SELF-DRIVING CAPABILITIES ON AUTONOMOUS VEHICLES. LIDAR PROVIDES VERY A VERY

ACCURATE, HIGH PRECISION DEPTH MAP OF THE WORLD AROUND THE CAR, BUT IS CURRENTLY STILL FAIRLY

EXPENSIVE AND ALSO HAS CHALLENGES SEEING THROUGH OCCLUSIONS, LIKE RAIN, SNOW AND FOG. TESLA'S

ARGUMENT IS THAT ROADS WERE BUILT FOR HUMAN DRIVERS WITH VISION AND THAT VISION SYSTEMS, SUCH AS

CAMERAS WILL DO A BETTER JOB TRAVERSING THAT ENVIRONMENT THAN OTHER SENSORS, READING ALL THE

VISION QUEUES MEANT FOR DRIVERS, LIKE ROAD SIGNS, ETC. IN ADDITION, TESLA BELIEVES THEIR VISION SYSTEM

(PLUS RADAR) ACCURATELY HANDLES DEPTH SENSING PROBLEMS AND THAT LIDAR IS NOT NEEDED FOR THAT

FUNCTION.

6_TI Radar Video.pdf

7_TI_radarSensors_spry311_ROS.pdf

Sensor Fusion 9,706 views •Jun 16, 2016 3:55

https://www.youtube.com/watch?v=JamDa-qNjPI

SensorPhysicsPresentation1.pptx