Maps
The robot doesn't know where it is!
What is a kidnapped robot?
Capturing a beam of light through a single point
What is a pinhole camera?
An example of a nonlocal constraint; for each point, there should be a matching pt. on the other image
What is uniqueness?
This is what f(n) stands for in a graph search algorithm
What is total cost?
One advantage of Probabilistic Approaches is it accommodates for inaccurate these
What are models?
An occupancy grid that has easier implementation but is inexact and the size of the map grows with the size of the environment
What is Exact Cell Decomposition?
In this form of multiview geometry, K,T, and R are known
What is structure from motion?
Given real time sensor readings, modulating the trajectory of a robot in order to avoid collisions. It is a short term plan
What is Local Path Planning?
Type of searching that finds the solution quickly, but not always optimal, examples are A*, D*, HBF
What is Informed Search?
What is computationally?
Initial robot pose is known, need to estimate localized position, it is a "global problem"
What is global localization?
Two examples of this are barrel and pin cushion
What is radial distortion?
Robots that control all of their degrees of freedom; easier to control, harder to build
What are holonomic robots?
This search method is optimal and complete, but requires large memory, and thus cannot be used on large search problems.
What is Breadth First Search?
This law states that: P(x,y) = P(x|y)*P(y)
What is the Law of Multiplication?
The combination of three tasks: Localization, Path Planning, and Map Building
What is Navigation?
These types of 'coordinates' represent points at infinity, 'homographies', perspective projection, and multiview relationships
What are homogenous coordinates?
A diagram that tends to maximize the distance between the robot and the obstacles. Values safety, but paths are far from optimal
What is a Voronoi Diagram?
This search algorithm is efficient for searching high dimensional, non convex shapes, can handle obstacles of all kinds
What is Rapidly Randomized Tree (RRT)?
Bayes Theorem can be defined as the combination of these types of reasoning.
What is an octree?
To calculate the image coordinates, one must first normalize the coordinates and then apply radial ""
What is distortion?
A form of occupancy grid where the cells are different sizes based on the geometry of the obstacles
What is Adaptive Cell Decomposition?
When 'e' or the variable in A* for f(n) = g(n)+e*h(n) is equal to zero it performs very similar to this algorithm
What is Dijsktra's?
The following simplification below is called this.
p(zt|x0:t-1,z1:t-1,ut-1=p(zt|xt)
What is the Markov Assumption?