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Particle Filtering. Sensors and Uncertainty Real world sensors are noisy and suffer from missing data (e.g., occlusions, GPS blackouts) Use sensor models.

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Presentation on theme: "Particle Filtering. Sensors and Uncertainty Real world sensors are noisy and suffer from missing data (e.g., occlusions, GPS blackouts) Use sensor models."— Presentation transcript:

1 Particle Filtering

2 Sensors and Uncertainty Real world sensors are noisy and suffer from missing data (e.g., occlusions, GPS blackouts) Use sensor models to estimate ground truth, unobserved variables, make forecasts

3 Hidden Markov Model Use observations to get a better idea of where the robot is at time t X0X0 X1X1 X2X2 X3X3 z1z1 z2z2 z3z3 Hidden state variables Observed variables Predict – observe – predict – observe…

4 Last Class Kalman Filtering and its extensions  Exact Bayesian inference for Gaussian state distributions, process noise, observation noise What about more general distributions? Key representational issue  How to represent and perform calculations on probability distributions?

5 General problem x t ~ Bel(x t ) (arbitrary p.d.f.) x t+1 = f(x t,u,  p ) z t+1 = g(x t+1,  o )  p ~ arbitrary model,  o ~ arbitrary model Process noise Observation noise

6 Particle Filtering (aka Sequential Monte Carlo) Represent distributions as a set of particles Applicable to non- gaussian high-D distributions Convenient implementations Widely used in vision, robotics

7 Simultaneous Localization and Mapping (SLAM) Mobile robots Odometry  Locally accurate  Drifts significantly over time Vision/ladar/sonar  Inaccurate locally  Global reference frame Combine the two  State: (robot pose, map)  Observations: (sensor input)

8 Particle Representation Bel(x t ) = {(w k,x k )} w k are weights, x k are state hypotheses Weights sum to 1 Approximates the underlying distribution

9 Recovering the Distribution Kernel density estimation  P(x) =  k w k K(x,x k )  K(x,x k ) is the kernel function Better approximation as # particles, kernel sharpness increases

10 Monte Carlo Integration If P(x) ≈ Bel(x) E P [f(x)] = integral[ f(x)P(x)dx ] ≈  k w k f(x k ) What might you want to compute?  Mean: set f(x) = x  Variance: f(x) = x 2  P(y): set f(x) = P(y|x) Because P(y) = integral[ P(y|x)P(x)dx ]

11 Filtering Steps Predict  Compute Bel’(x t+1 ): distribution of x t+1 using dynamics model alone Update  Compute x t+1 |z t+1 with Bayes rule  Gives Bel(x t+1 ) for next step

12 Predict Step Given input particles Bel(x t ) Distribution of f(x t,u t,v) determined by propagating individual particles Gives Bel’(x t+1 )

13 Particle Propagation

14 Update Step Goal: compute P(x t+1 | z t+1 ) given Bel’(x t+1 ), z t+1 P(x t+1 | z t+1 ) =  P(z t+1 | x t+1 ) P(x t+1 )  P(x t+1 ) = Bel’(x t+1 ) (given)  For a state hypothesis x k  Bel’(x t+1 ), what’s P(z t+1 | x t+1 =x k )? Solution: Weight particles by the likelihood of observing z t+1, given that the particle is the actual state, and resample

15 Update Step w k  w k ’ * P(z t+1 | x t+1 =x k ) 1D example:  g(x,  o ) = h(x) +  o   o ~ N( ,  )  P(z t+1 | x t+1 =x k ) = C exp(- (h(x)-z t+1 ) 2 / 2  2 ) In general, distribution can be calibrated using experimental data

16 Resampling Likelihood weighted particles may no longer represent the distribution efficiently Importance resampling: sample new particles proportionally to weight

17 Sampling Importance Resampling (SIR) variant Predict Update Resample

18 Presentation

19 Particle Filtering Issues Variance  Std. dev. of particle representation ~ 1/sqrt(N) Loss of particle diversity  Resampling will likely drop particles with low likelihood  They may turn out to be useful hypotheses in the future

20 Other Resampling Variants Selective resampling  Only resample when # of “effective particles” < threshold Stratified resampling  Reduce variance using quasi-random sampling Optimization  Explicitly choose particles to minimize deviance from posterior …

21 Storing more information with particles Unscented Particle Filter  Each particle represents a local gaussian, maintains a local covariance matrix  Combination of particle filter + Kalman filter Rao-Blackwellized Particle Filter  State (x 1,x 2 )  Particle contains hypothesis of x 1, analytical distribution over x 2  Reduces variance

22 Recap Bayesian mechanisms for state estimation are well understood Representation challenge Methods:  Kalman filters: highly efficient closed-form solution for Gaussian distributions  Particle filters: approximate filtering for high-D, non- Gaussian distributions  Implementation challenges for different domains (localization, mapping, SLAM, tracking)

23 Midterm Project Report Schedule (tentative) Tuesday  Changsi, Yang, Roland: Indoor person following  Jiaan and Yubin: Indoor mapping  You-wei: Autonomous driving  Santhosh and Yohanand: Robot chess Thursday  Adrija: Dynamic collision checking with point clouds  Damien: Netlogo  Jingru and Yajia: Ball collector with robot arm  Ye: UAV simulation


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