Monte Carlo Localization in Hand-Drawn Maps

Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address the localization problem when the map of the environment is not present beforehand, and the robot relies on a hand-drawn map from a non-expert user. We addressed this problem by expressing the robot pose in the pixel coordinate and simultaneously estimate a local deformation of the hand-drawn map. Experiments show that we are able to localize the robot in the correct room with a robustness up to 80

Sequential Monte Carlo samplers for semilinear inverse problems and application to magnetoencephalography

We discuss the use of a recent class of sequential Monte Carlo methods for solving inverse problems characterized by a semi-linear structure, i.e. where the data depend linearly on a subset of variables and nonlinearly on the remaining ones. In this type of problems, under proper Gaussian assumptions one can marginalize the linear variables. This means that the Monte Carlo procedure needs only to be applied to the nonlinear variables, while the linear ones can be treated analytically; as a result, the Monte Carlo variance and/or the computational cost decrease. We use this approach to solve the inverse problem of magnetoencephalography, with a multi-dipole model for the sources. Here, data depend nonlinearly on the number of sources and their locations, and depend linearly on their current vectors. The semi-analytic approach enables us to estimate the number of dipoles and their location from a whole time-series, rather than a single time point, while keeping a low computational cost.Comment: 26 pages, 6 figure

Dynamic filtering of static dipoles in magnetoencephalography

We consider the problem of estimating neural activity from measurements of the magnetic fields recorded by magnetoencephalography. We exploit the temporal structure of the problem and model the neural current as a collection of evolving current dipoles, which appear and disappear, but whose locations are constant throughout their lifetime. This fully reflects the physiological interpretation of the model. In order to conduct inference under this proposed model, it was necessary to develop an algorithm based around state-of-the-art sequential Monte Carlo methods employing carefully designed importance distributions. Previous work employed a bootstrap filter and an artificial dynamic structure where dipoles performed a random walk in space, yielding nonphysical artefacts in the reconstructions; such artefacts are not observed when using the proposed model. The algorithm is validated with simulated data, in which it provided an average localisation error which is approximately half that of the bootstrap filter. An application to complex real data derived from a somatosensory experiment is presented. Assessment of model fit via marginal likelihood showed a clear preference for the proposed model and the associated reconstructions show better localisation