Basics of Mobile Robotics: Localization

This lecture covers the basics of mobile robotics focusing on localization. It discusses sensors for position and displacement estimation, handling uncertainty in localization, and various localization problems such as global vs. local localization, passive vs. active approaches, and beacon-based positioning. The lecture also explores the Global Positioning System (GPS), vision-based navigation systems, and motion models for estimating the effect of motion on the robot's state. Additionally, it delves into topics like odometry, wheel encoders, and the use of Inertial Measurement Units (IMU) for relative position estimation. The instructor provides insights into the challenges of GPS technology, beacon-based positioning, and the integration of sensor data for accurate localization.

About this result

This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Related lectures (1)

Related concepts (50)

MICRO-452: Basics of mobile robotics

The course teaches the basics of autonomous mobile robots. Both hardware (energy, locomotion, sensors) and software (signal processing, control, localization, trajectory planning, high-level control)

Vision-Language-Action Models: Training and Applications

Delves into training and applications of Vision-Language-Action models, emphasizing large language models' role in robotic control and the transfer of web knowledge. Results from experiments and future research directions are highlighted.

Odometry

Odometry is the use of data from motion sensors to estimate change in position over time. It is used in robotics by some legged or wheeled robots to estimate their position relative to a starting location. This method is sensitive to errors due to the integration of velocity measurements over time to give position estimates. Rapid and accurate data collection, instrument calibration, and processing are required in most cases for odometry to be used effectively.

Rotary encoder

A rotary encoder, also called a shaft encoder, is an electro-mechanical device that converts the angular position or motion of a shaft or axle to analog or digital output signals. There are two main types of rotary encoder: absolute and incremental. The output of an absolute encoder indicates the current shaft position, making it an angle transducer. The output of an incremental encoder provides information about the motion of the shaft, which typically is processed elsewhere into information such as position, speed and distance.

Soft robotics

Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans. The goal of soft robotics is the design and construction of robots with physically flexible bodies and electronics. Sometimes softness is limited to part of the machine.

Visual odometry

In robotics and computer vision, visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of robotic applications, such as on the Mars Exploration Rovers. In navigation, odometry is the use of data from the movement of actuators to estimate change in position over time through devices such as rotary encoders to measure wheel rotations.

Google Drive

Google Drive is a and developed by Google. Launched on April 24, 2012, Google Drive allows users to store files in the cloud (on Google's servers), synchronize files across devices, and . In addition to a web interface, Google Drive offers apps with offline capabilities for Windows and macOS computers, and Android and iOS smartphones and tablets. Google Drive encompasses Google Docs, Google Sheets, and Google Slides, which are a part of the Google Docs Editors office suite that permits collaborative editing of documents, spreadsheets, presentations, drawings, forms, and more.