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© sebastian thrun, CMU, 2000 1
CS226 Statistical Techniques In Robotics
Sebastian Thrun (Instructor) and Josh Bao (TA)
http://robots.stanford.edu/cs226Office: Gates 154, Office hours: Monday 1:30-3pm
© sebastian thrun, CMU, 2000 6
Bayes Filtersx = stated = datam = mapt = timez = observationu = control),|( 0 mdxp tt
[Kalman 60, Rabiner 85]
1011011 ),,,|(),,,,|(),|( tttttttt dxmzuxpmzuxxpmxzp
),,,,|(),,,,,|( 011011 mzzuxpmzzuxzp ttttttt Bayes
),,,,|(),|( 011 mzzuxpmxzp ttttt Markov
110111 ),|(),|(),|( tttttttt dxmdxpuxxpmxzp
Markov1021111 ),,,|(),|(),|( ttttttttt dxmzuzxpuxxpmxzp
),,,,,|( 011 mzzuzxp tttt