Loading Events

« All Events

  • This event has passed.

GRASP Seminar: Martin Adams, Universidad de Chile, “Generalizing Random-Vector SLAM with Random Finite Sets”

May 22, 2015 @ 11:00 am - 12:00 pm


 Applications for autonomous robots have long been identified in challenging environments including built-up areas, mines, disaster scenes, underwater and in the air. Robust solutions to autonomous navigation remain a key enabling issue behind any realistic success in these areas. Arguably, the most successful robot navigation algorithms to-date, have been derived from a probabilistic perspective, which takes into account vehicle motion and terrain uncertainty as well as sensor noise. Over the past decades, a great deal of interest in the estimation of an autonomous robot’s location state, and that of its surroundings, known as Simultaneous Localization And Map building (SLAM), has been evident. This presentation will explain recent advances in the representations of robotic measurements and the map itself, and their consequences on the robustness of SLAM. Fundamentally, the concept of a set based measurement and map state representation allows all of the measurement information, spatial and detection, to be incorporated into joint Bayesian SLAM frameworks. Representing measurements and the map state as random sets, rather than the traditionally adopted random vectors, is not merely a triviality of notation. It will be demonstrated that a set based framework circumvents the necessity for any fragile data association and map management heuristics, which are necessary, and often the cause of failure, in vector based solutions. This presentation will mathematically demonstrate that the set and vector based formulations are actually closely related, and that RFS SLAM can be viewed as a generalization of vector-based SLAM. Under ideal detection conditions, the two methods are equivalent. The findings provide important insights into some of the limitations of the random vector formulation. These are validated using Probability Hypothesis Density (PHD) Filter simulations with varying  detection statistics, along with actual SLAM datasets and experiments demonstrating SLAM with laser and radar sensors in urban and marine environments. Comparisons of PHD Filter based SLAM and state of the art vector based implementations will demonstrate the robustness of the former to the realistic  situations of sensor false alarms, missed detections and clutter.


- Learn More

Martin Adams is Professor of Electrical Engineering at the Dept. of Electrical Engineering, University of Chile. He is also a principle investigator in the industrially sponsored Advanced Mining Technology Centre (AMTC). He obtained his first degree in Engineering Science at the University of Oxford, U.K, in 1988 and continued to study for a D.Phil. at the Robotics Research Group, University of Oxford, which he received in 1992. He continued his research in autonomous robot navigation as a project leader and part time lecturer at the Institute of Robotics, Swiss Federal Institute of Technology (ETH), Zurich, Switzerland. He was employed as a Guest Professor and taught control theory in St. Gallen (Switzerland) from 1994 to 1995. From 1996 to 2000, he served as a senior research scientist in robotics and control, in the field of semiconductor assembly automation, at the European Semiconductor Equipment Centre (ESEC), Switzerland. From 2000 to 2010, he was Associate Professor at the School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore. His research work focuses on autonomous robot navigation, sensing, sensor data interpretation and control, and more recently in the application of Random Finite Sets (RFS) and Finite Set Statistics (FISST) in Simultaneous Localization and Mapping (SLAM) and various target tracking problems. He has published many technical papers in these fields. He has been the principle investigator and leader of many robotics and industrially sponsored projects, coordinating researchers from local industries and local and overseas universities and has served as associate editor on various journal and conference editorial boards.


May 22, 2015
11:00 am - 12:00 pm
Event Category: