0
$\begingroup$

Given I am building a grid map, and poses are represented using particles, how can I calculate the uncertainty of a pose In a grid based fastslam 2.0?

$\endgroup$
1
$\begingroup$

This depends on how you want to quantify the uncertainty. For example, you can compute the sample covariance between all state variables i.e.,

$$ q_{jk} = \frac{1}{N-1} \sum_{i=1}^{N} (x_{ij} - \bar{x}_j) (x_{ik} - \bar{x}_k) $$

where the covariance matrix is $\mathbf{Q}$ with entries $q_{ji}$. This is straightforward; however, different approaches exist. For estimating the uncertainty, you could then compute the trace or determinant of the covariance matrix.

| improve this answer | |
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.