1. © sebastian thrun, CMU, 20001 CS226 Statistical Techniques In Robotics Sebastian Thrun (Instructor) and Josh Bao (TA) http://robots.stanford.edu/cs226 Office: Gates 154, Office hours: Monday 1:30-3pm

2. © sebastian thrun, CMU, 20002 Warm-Up Assignment: Localization, Due Sept 23

3. © sebastian thrun, CMU, 20003 Warm-Up Assignment: Localization

4. © sebastian thrun, CMU, 20004 Warm-Up Assignment: Localization

5. © sebastian thrun, CMU, 20005

6. 6 Bayes Filters x = state d = data m = map t = time z = observation u = control [Kalman 60, Rabiner 85] Bayes Markov

7. © sebastian thrun, CMU, 20007 Nature of Odometry Data

8. © sebastian thrun, CMU, 20008 Probabilistic Kinematics map m

9. © sebastian thrun, CMU, 20009 Nature of Sensor Data

10. © sebastian thrun, CMU, 200010 laser datap(o|s,m) Probabilistic Range Sensing

11. © sebastian thrun, CMU, 200011 Posterior Probability (Single Scan) p(o|s,m) observation o

12. © sebastian thrun, CMU, 200012 Grid Approximations

13. © sebastian thrun, CMU, 200013 Markov Localization in Grid Map

14. © sebastian thrun, CMU, 200014 Monte Carlo Localization

15. © sebastian thrun, CMU, 200015 Sample Approximations

16. © sebastian thrun, CMU, 200016 Monte Carlo Localization, cont’d