Jethro's Braindump

Motion Model With Maps

tags
Velocity Motion Model, Odometry Motion Model

Often, we are given map m of the environment, giving us further information about the robot pose xt. In general,

p(xt|ut,xt−1)≠p(xt|ut,xt−1,m)

And the map-based motion model should give better results. Computing this motion model in closed form is difficult. An approximation via factorization works well where the distance xt−1 and xt is small.

p(xt|ut,xt−1,m)=ηp(xt|ut,xt−1)p(xt|m)

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