{"id":39,"date":"2024-04-04T08:01:24","date_gmt":"2024-04-04T05:01:24","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/lokaliseerimine\/"},"modified":"2024-04-04T08:03:57","modified_gmt":"2024-04-04T05:03:57","slug":"lokaliseerimine","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/lokaliseerimine\/","title":{"rendered":"2. Lokaliseerimine"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>Kuidas k\u00e4ib roboti lokaliseerimine?<\/strong>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<span id=\"docs-internal-guid-cb36365f-7fff-6e78-3251-96e611cbfa02\">Robot ei saa kunagi oma maailmatajus kindel olla, sest nagu f\u00fc\u00fcsikatunnist m\u00e4letame, siis iga m\u00f5\u00f5tmine sisaldab m\u00e4\u00e4ramatust. Ent robot tajub oma maailma ainult l\u00e4bi eri andurite ehk m\u00f5\u00f5teseadmete. Seet\u00f5ttu on robot alati ebakindel, eriti kui \u00fclesandeks on tema enda asukoha m\u00e4\u00e4ramine keskkonnas.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-c7f9cdac-7fff-7356-0443-62c3130f396e\">Isegi kui suudame roboti hetke asukoha t\u00e4iuslikult m\u00e4\u00e4rata, tekivad kirjeldatud probleemid kohe uuesti, kui robot liigub. Mida kauem robot liigub, seda suurem on andurite m\u00e4\u00e4ramatusest tingitud ebat\u00e4psus ning seda ebakindlamad saame olla roboti asukohta hinnates. Ent siin tuleb meile appi matemaatika, mis v\u00f5imaldab siduda roboti anduritest saadud lugemid ja nende lugemite usaldusv\u00e4\u00e4rsuse, et v\u00f5imalikult t\u00e4pselt hinnata roboti asukohta.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-1507287d-7fff-a96c-195b-f9ce0bd9683a\">N\u00e4iteks kujutame ette olukorda, kus meie robot saab olla ainult \u00fches neljast allpool joonistatud ruudust. Kuigi me ei tea t\u00e4pselt, millises alas robot asub, saame siiski omistada igale ruudule mingisuguse t\u00f5en\u00e4osuse, et robot just selle ruudus asub. Alloleval joonisel on n\u00e4itlikustatud, kuidas saame taolisi t\u00f5en\u00e4osusi graafiliselt esitada (antud juhul on siis k\u00f5ige suurem t\u00f5en\u00e4osus, et robot asub ruudus 3).<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"720\" class=\"alignnone wp-image-118\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/discbelief-est.png\" title=\"discbelief-est.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/discbelief-est.png 1280w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/discbelief-est-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/discbelief-est-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/discbelief-est-768x432.png 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\">\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-555584a2-7fff-4936-b305-8c5d378da96b\">Tihti aga kasutame robotite asukoha t\u00f5enn\u00e4osuse kirjeldamiseks mitte tabelit\/diagrammi, kust saame v\u00e4lja lugeda \u00fche v\u00e4\u00e4rtuse konkreetse lahtri kohta, vaid kirjeldame roboti asukoha hoopis pideva funktsiooni abil nagu allj\u00e4rgneval pildil. Taoline matemaatiline funktsioon v\u00f5imaldab, et meil mistahes ruumipunkti kohta \u00f6elda, kui suure t\u00f5en\u00e4osusega robot seal asub. Mida kitsam on meie roboti asukohta kirjeldav t\u00f5en\u00e4osusfunktsiooni k\u00f5ver, seda kindlamad saame olla robot asukohas.<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"720\" class=\"alignnone wp-image-119\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/contbelief-est.png\" title=\"contbelief-est.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/contbelief-est.png 1280w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/contbelief-est-300x169.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/contbelief-est-1024x576.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/contbelief-est-768x432.png 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\">\n<\/p>\n<hr>\n<p>\n\tSelles harjutuses on kasutatud ja mugandatud David Kostolani (TU Wien) loodud \u00f5ppematerjale.\n<\/p>\n<p>\n\t\u00a0<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Kuidas k\u00e4ib roboti lokaliseerimine? Robot ei saa kunagi oma maailmatajus kindel olla, sest nagu f\u00fc\u00fcsikatunnist m\u00e4letame, siis iga m\u00f5\u00f5tmine sisaldab m\u00e4\u00e4ramatust. Ent robot tajub oma maailma ainult l\u00e4bi eri andurite ehk m\u00f5\u00f5teseadmete. Seet\u00f5ttu on robot alati ebakindel, eriti kui \u00fclesandeks &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-39","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/39","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=39"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/39\/revisions"}],"predecessor-version":[{"id":362,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/39\/revisions\/362"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=39"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}