Recovering sample diversity in Rao-Blackwellized particle filters for simultaneous localization and mapping

This thesis considers possible solutions to sample impoverishment, a well-known failure mode of the Rao-Blackwellized particle filter (RBPF) in simultaneous localization and mapping (SLAMI) situations that arises when precise feature measurements yield a limited perceptual distribution relative to a motion-based proposal distribution. One set of solutions propagates particles according to a more advanced proposal distribution that includes measurement information. Other methods recover lost sample diversity by resampling particles according to a continuous distribution formed by regularization kernels. Several advanced proposals and kernel shaping regularization methods are considered based on the RBPF and tested in a Monte Carlo simulation involving an agent traveling in an environment and observing uncertain landmarks. RMS error of range-bearing feature measurements was reduced to evaluate performance during proposal-perceptual distribution mismatch. A severe loss in accuracy due to sample impoverishment is seen in the standard RBPF at a measurement range RMS error of 0.001 m in a 10 m x 10 m environment.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Anderson, Andrew D. (Andrew David)

Advisor dc:contributor.advisor

• Don Gustafson and John Deyst.

• Aeronautics and Astronautics.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/36174

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/36174