Added range ISAM example from Djugash08iser and Boots13icml
Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% GTSAM Copyright 2010, Georgia Tech Research Corporation,
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% Atlanta, Georgia 30332-0415
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% All Rights Reserved
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% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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%
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% See LICENSE for the license information
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%
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% @brief Read Robotics Institute range-only Plaza2 dataset and do iSAM
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% preliminaries
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clear
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import gtsam.*
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%% Find and load data file
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% data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/
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% Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html)
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% GT: Groundtruth path from GPS
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% Time (sec) X_pose (m) Y_pose (m) Heading (rad)
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% DR: Odometry Input (delta distance traveled and delta heading change)
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% Time (sec) Delta Dist. Trav. (m) Delta Heading (rad)
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% DRp: Dead Reckoned Path from Odometry
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% Time (sec) X_pose (m) Y_pose (m) Heading (rad)
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% TL: Surveyed Node Locations
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% Time (sec) X_pose (m) Y_pose (m)
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% TD
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% Time (sec) Sender / Antenna ID Receiver Node ID Range (m)
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datafile = findExampleDataFile('Plaza2_.mat');
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load(datafile)
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M=size(DR,1);
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K=size(TD,1);
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minK=100; % minimum number of range measurements to process initially
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incK=5; % minimum number of range measurements to process after
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sigmaR = 100; % range standard deviation
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sigmaInitial = 1; % draw initial landmark guess from Gaussian
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useGroundTruth = false;
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useRobust=true;
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addRange=true;
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useResult=true;
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batchInitialization=true;
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%% Set Noise parameters
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noiseModels.prior = noiseModel.Diagonal.Sigmas([1 1 pi]');
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noiseModels.pointPrior = noiseModel.Diagonal.Sigmas([1 1]');
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noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.05 0.01 0.2]');
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if useRobust
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base = noiseModel.mEstimator.Tukey(15);
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noiseModels.range = noiseModel.Robust(base,noiseModel.Isotropic.Sigma(1, sigmaR));
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else
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noiseModels.range = noiseModel.Isotropic.Sigma(1, sigmaR);
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end
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%% Initialize iSAM
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params = gtsam.ISAM2Params;
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params.setRelinearizeSkip(1);
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% gnParams = ISAM2GaussNewtonParams;
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% dlParams = ISAM2DoglegParams;
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% params.setOptimizationParams(gnParams);
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isam = ISAM2(params);
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%% Add prior on first pose
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pose0 = Pose2(GT(1,2),GT(1,3),pi+GT(1,4));
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newFactors = NonlinearFactorGraph;
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if ~addRange | ~useGroundTruth
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newFactors.add(PriorFactorPose2(0,pose0,noiseModels.prior));
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end
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initial = Values;
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initial.insert(0,pose0);
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odo = Values;
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odo.insert(0,pose0);
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if addRange
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for i=1:size(TL,1)
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j=TL(i,1);
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if useGroundTruth
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Lj = Point2(TL(i,2),TL(i,3));
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initial.insert(symbol('L',j),Lj);
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newFactors.add(PriorFactorPoint2(symbol('L',j),Lj,noiseModels.pointPrior));
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else
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initial.insert(symbol('L',j),Point2(sigmaInitial*randn,sigmaInitial*randn));
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end
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end
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XY = utilities.extractPoint2(initial);
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plot(XY(:,1),XY(:,2),'g*');
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end
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%% Loop over odometry
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tic
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k = 1; % range measurement counter
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update = false;
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lastPose = pose0;
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odoPose = pose0;
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countK = 0;
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for i=1:M % M
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% get odometry measurement
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t = DR(i,1);
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distance_traveled = DR(i,2);
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delta_heading = DR(i,3);
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% add odometry factor
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odometry = Pose2(distance_traveled,0,delta_heading);
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newFactors.add(BetweenFactorPose2(i-1, i, odometry, noiseModels.odometry));
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% predict pose and update odometry
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predictedOdo = odoPose.compose(odometry);
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odoPose = predictedOdo;
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odo.insert(i,predictedOdo);
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% predict pose and add as initial estimate
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predictedPose = lastPose.compose(odometry);
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lastPose = predictedPose;
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initial.insert(i,predictedPose);
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while k<=K & t>=TD(k,1)
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j = TD(k,3);
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range = TD(k,4);
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% fprintf(1,'%7g %7g %5d %5d %d %0.2f\n', t,TD(k,1),k, i, j, range);
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if addRange
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newFactors.add(RangeFactorPosePoint2(i, symbol('L',j), range, noiseModels.range));
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end
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k=k+1; countK=countK+1; update = true;
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end
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if update & k>minK & countK>incK
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if batchInitialization % Do a full optimize for first minK ranges
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tic
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batchOptimizer = LevenbergMarquardtOptimizer(newFactors, initial);
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toc
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initial = batchOptimizer.optimize();
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batchInitialization = false; % only once
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end
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isam.update(newFactors, initial);
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if useResult
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result = isam.calculateEstimate();
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lastPose = result.at(i);
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else
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lin = isam.getLinearizationPoint();
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lastPose = lin.at(i);
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end
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newFactors = NonlinearFactorGraph;
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initial = Values;
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countK = 0;
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end
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% visualize
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if mod(i,50)==0 & k>minK
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figure(1);clf;hold on
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% odometry
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XYT = utilities.extractPose2(odo);
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plot(XYT(:,1),XYT(:,2),'y-');
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% lin point
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lin = isam.getLinearizationPoint();
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XYT = utilities.extractPose2(lin);
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plot(XYT(:,1),XYT(:,2),'r.');
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XY = utilities.extractPoint2(lin);
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plot(XY(:,1),XY(:,2),'r*');
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% result
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result = isam.calculateEstimate();
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XYT = utilities.extractPose2(result);
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plot(XYT(:,1),XYT(:,2),'k-');
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XY = utilities.extractPoint2(result);
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plot(XY(:,1),XY(:,2),'k*');
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axis equal
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% pause
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end
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end
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toc
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