Robust Range Only Beacon Localization Talk

At the recent Papers We Love SG Chapter meetup, held in Singapore, we had a nice discussion on robot localization techniques for underwater vehicles as written by the authors of this paper.

Updated slides are here for download.

Things that I liked about this paper are:

  1. The approach followed by the authors to eliminate noisy range measurements and how they reduced it to an eigenvector problem.
  2. A nice explanation on how the beacons are localized and how their range measurements are later used to navigate around the beacon-field, taking a simple EKF SLAM approach.

The work discussed in this paper will be great to experiment upon to see how well it performs in presence of noise and other uncertainties.

I'm jotting down some of my thoughts to improve my presentation skills.

  1. Must-do : rehearsing a talk before presenting it.
  2. To create a lively atmosphere while presenting, it's important to explain the concepts with appropriate simulations, videos and/or real-robot demos.
  3. Finally, one shall never present with an empty stomach growling for food :)