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.