2 research outputs found
Fisher Information Field: an Efficient and Differentiable Map for Perception-aware Planning
Considering visual localization accuracy at the planning time gives
preference to robot motion that can be better localized and thus has the
potential of improving vision-based navigation, especially in visually degraded
environments. To integrate the knowledge about localization accuracy in motion
planning algorithms, a central task is to quantify the amount of information
that an image taken at a 6 degree-of-freedom pose brings for localization,
which is often represented by the Fisher information. However, computing the
Fisher information from a set of sparse landmarks (i.e., a point cloud), which
is the most common map for visual localization, is inefficient. This approach
scales linearly with the number of landmarks in the environment and does not
allow the reuse of the computed Fisher information. To overcome these
drawbacks, we propose the first dedicated map representation for evaluating the
Fisher information of 6 degree-of-freedom visual localization for
perception-aware motion planning. By formulating the Fisher information and
sensor visibility carefully, we are able to separate the rotational invariant
component from the Fisher information and store it in a voxel grid, namely the
Fisher information field. This step only needs to be performed once for a known
environment. The Fisher information for arbitrary poses can then be computed
from the field in constant time, eliminating the need of costly iterating all
the 3D landmarks at the planning time. Experimental results show that the
proposed Fisher information field can be applied to different motion planning
algorithms and is at least one order-of-magnitude faster than using the point
cloud directly. Moreover,the proposed map representation is differentiable,
resulting in better performance than the point cloud when used in trajectory
optimization algorithms.Comment: 18 pages, 15 figure
RMPflow: A Computational Graph for Automatic Motion Policy Generation
We develop a novel policy synthesis algorithm, RMPflow, based on
geometrically consistent transformations of Riemannian Motion Policies (RMPs).
RMPs are a class of reactive motion policies designed to parameterize
non-Euclidean behaviors as dynamical systems in intrinsically nonlinear task
spaces. Given a set of RMPs designed for individual tasks, RMPflow can
consistently combine these local policies to generate an expressive global
policy, while simultaneously exploiting sparse structure for computational
efficiency. We study the geometric properties of RMPflow and provide sufficient
conditions for stability. Finally, we experimentally demonstrate that
accounting for the geometry of task policies can simplify classically difficult
problems, such as planning through clutter on high-DOF manipulation systems.Comment: WAFR 201