25 Jan 2009 motters   » (Master)

Recording of wheel odometry data looks good, and I can plot out the journey through which the robot has traveled. This will be subject to errors, but it's a start.

When replaying a pre-recorded journey I think what I'll do initially is have the robot perform an optical scan of the immediate vicinity from a static position using its pan and tilt head. This can be used to build up an initial occupancy grid which is as dense as possible, allowing the pose to be visually estimated as well as it can be. There's an obvious hazard in that if the initial pose estimate is completely wrong, the subsequent mapping could go awry.

I might also have the robot perform a visual search if the localization estimate is too uncertain - so that it would appear to pause and do a "double take".

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