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Questions tagged [particle-filter]

Particle filtering is a general Monte Carlo (sampling) method for performing inference in state-space models where the state of a system evolves in time and information about the state is obtained via noisy measurements made at each time step

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Sensor model and Inverse sensor model using occupancy grid mapping with lidar for particle filter

I'm a bit confused about how one goes about calculating the sensor model $p(z_t|x_t, m) $ and inverse sensor model for position $p(x_t |z_t,m_{t-1})$. From this answer, it seems like one way for ...
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Help with Probabilistic Robotics Equation 13.22 detailed derivation

Equation 13.22 from Probabilistic Robotics below: Here's how I get from first line to second line: $$ p(x_{1:t}^{[k]} | z_{1:t},u_{1:t}, c_{1:t}) = \frac{p(x_{1:t}^{[k]}, z_{1:t},u_{1:t}c_{1:t}) }{ ...
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1answer
70 views

Likelihood Field Matching

I have LIDAR data of an environment in my hand and I want to apply likelihood field matching to this data. I found a source. But I don't understand what the variables of the algorithm mean and how it ...
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1answer
62 views

Fusing absolute robot localization from markers

I have a system which is composed of a rig of 8 cameras which are used for detecting markers in the environment and which outputs 8 estimates of the absolute robot's position and orientation. Now, I ...
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2answers
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How should I understand sequential importance resampling in a particle filter?

Suppose I implement a particle filter with $n$ particles. This is a brief description of my understanding of a particle filter. For the first step, I throw out $n$ particles some distance from my ...
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2answers
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Why does the low variance resampling algorithm for particle filters work?

I am studying and coding particle filters and I am using the Low variance sampling algorithm suggested in the Probabilistic Robotics book. I understand the procedure for the algorithm. A random number ...
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1answer
56 views

How to generate Particle in Particle Filter

I try to implement FastSlam 1.0. To implement this I need to create particles. Now my confusion is that How to create Particles?I have some odometry and Measurement data. Using those data values how ...
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When should I use a Histogram filter instead of a Particle filter?

After reading Probabilistic Robotics, I haven't been able to determine when one filter (particle vs. histogram) is necessarily better than the other. Both methods accomplish the same task in fairly ...
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1answer
44 views

Why does a Bayesian Filter require random controls?

As stated in Probabalistic Robotics, the proof for correctness of a Bayesian Filter relies on the fact that $$p(x_{t-1}|z_{1:t-1},\ u_{1:t}) = p(x_{t-1}|z_{1:t-1},\ u_{1:t-1})$$ In order to justify ...
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2answers
189 views

Laser Scanner for localization in particle filter

I'm working on a particle filter implementation in Matlab and I found one very good in the Robotics Toolbox (available here https://github.com/petercorke/robotics-toolbox-matlab). My problem is that I ...
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47 views

how does a clustered particle filter work?

Suppose we want to track multiple objects (robots, roads, people...) using clustered particle filtering (because we don't have an idea about how many objects there'll be, and the number of these may ...
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Why to stop a particle filter if the robot does not move?

It is clear it is not a good idea to do resampling in a particle filter if the robot is not moving (there is no action), as the particles will converge towards a simple particle. However, ...
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Resampling step for MC variation reduction

I am reading particle filtering for robot localisation and specifically the resampling step to avoid particle degeneracy. Can anyone explain me what MC (Monte Carlo) variation means? I saw it couple ...
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1answer
80 views

How to track multiple robots with particle filter

I am using an IR camera to track N mobile robots driving about on the floor. Each robot has a few IR LEDs on its head in known locations, all at the same height above the floor. Each robot has 5 ...
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1answer
535 views

How to make a particle filter evaluation function with LIDAR sensing?

I am currently trying to implement a particle filter an a robot in a view to localize it on a 2D plane (i.e. to determine x, y ...
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1answer
582 views

How to implement a particle filter when sensors can't identify landmarks?

I'm attempting to build a robot that leverages a particle filter to identify where it is relative to a map that is known. The robot only has IR sensors, so while it is able to determine its distance ...
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263 views

How does fast slam creates grid maps?

I've implemented fast slam using landmark detection and the map stored is a feature map, made of landmarks positions. I would like to create a grid map, and my questions are about how does the robot ...
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Introducing new particles in particle filters for localization

Standard particle filters can produce bad localization result if the initial particle generation step produces no particle that is close to location (and bearing) of tracked object. The accuracy ...
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1answer
409 views

Localization of a Robot to find it Coordinates according to the Known Map

I am a third-year electrical engineering student and am working on an intelligent autonomous robot in my summer vacations. The robot I am trying to make is supposed to be used in rescue operations. ...
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3answers
340 views

Addressing the sample impoverishment in particle filter

I have implemented a particle filter algorithm for the state estimation of a mobile robot. There are several external range sensors(transmitters) in the environment which gives information on the ...
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1answer
2k views

Low variance resampling algorithm for particle filter

For my particle filter, I decided to try using the low variance resampling algorithm as suggested in Probabilistic Robotics. The algorithm implements systematic resampling while still considering ...
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1answer
254 views

How to use a POMDP-based planner on top of a probabilistic filter

POMDPs extend MDPs by conceiling state and adding an observation model. A POMDP controller processes either action/observation histories or a bayesian belief state, computed from the observations (...
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Particle Filter Sampling Step

I emphasize that my question is about sampling, not resampling. I'm reading the Probabilistic Robotics book by Thrun et al, Chapter 4 on Non-Parametric Filters. The section on Particle filters has ...
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3answers
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Particle filter weight function

I am trying to implement a particle filter in MATLAB to filter a robot's movement in 2D but I'm stuck at the weight function. My robot is detected by a camera via two points, so a single measure is a ...
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3answers
326 views

Is the accuracy of estimated position in localization better than estimated position in SLAM?

We estimate position of robot in localization and SLAM. My intuition says we get better position estimation in localisation than in SLAM because we have better sensor model likelihoods in localization ...
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1answer
74 views

Is a simple range sensor described below sufficient to implement particle filter localization?

I am trying to implement a monte carlo localization/particle filter localization with a simple range sensor. The range sensor only sees in the direction the robot is heading and returns back any ...
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1answer
150 views

Particles not behaving correctly in the implementation of particle filter

I am implementing a particle filter in Java. The problem with my particle filter implementation is that the particles suddenly go away from the robot i.e the resampling process is choosing particles ...
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2answers
872 views

Whats the logic to implement a particle filter for a robot with range sensor?

I am trying to implement a particle filter for a robot in Java. This robot is having a range sensor. The world has 6 obstacles - 3 in the top and 3 in bottom. I am calculating the distance of the ...
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2answers
217 views

Different Particle Filter min and max particle numbers give almost the same result

I'm using amcl package in ROS to localize a mobile robot. I've changed min_particles and max_particles several times then ...
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0answers
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Random number generation for Particle Filter

I implemented a bootstrap Particle filter on C++ by reading few Papers and I first implemented a 1D mouse tracker which performed really well. I used normal Gaussian for weighting in this exam. I ...
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1answer
2k views

What is the best way to fuse measurements from IMU, LIDAR, and Encoder information in some recursive bayesian filter?

I am doing SLAM with a four wheeled (2-wheel drive) differential drive robot driving through some hall way. The hallway is not flat everywhere. And the robot turns by spinning in place, then traveling ...
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3answers
914 views

Motion Model for Holonomic Robot

We are working with an holonomic robot equipped with three (120 degree shifted) omnidirectional wheels. The relative movement is estimated by dead reckoning using wheel encoders. To improve this ...
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2answers
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Difference between Rao-Blackwellized particle filters and regular ones

From what I've read so far, it seems that a Rao-Blackwellized particle filter is just a normal particle filter used after marginalizing a variable from: $$p(r_t,s_t | y^t)$$ I'm not really sure ...
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1answer
227 views

Resampling attitude states (quaternions, rotation matrix) in a Particle Filter

Suppose I have a particle filter which contains an attitude state (we'll use a unit quaternion from the body to the earth frame for this discussion) $\mathbf{q}_b^e$. What methods should or should ...
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1answer
469 views

How to calculate probability of particle survival for particle filter?

I'm trying to figure out a way that I can calculate the probability that a particle will survive the re-sampling step in the particle filter algorithm. For the simple case of multinomial re-sampling, ...
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1answer
2k views

Particle filter implementation in ROS

I'm looking for particle filter implementation in ROS to use in mobile robot localization, but it seems the only available package is amcl (Adaptive Monte Carlo), I'm not sure is it possible to use it ...
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1answer
115 views

How to implement Bounded Angle Vision in Particle Filter?

I have built a Particles Filter simulator and I wanted to add the following functionalities. Limited Range Vision (Robot can see up to 50 meters) Limited Angle Vision (Robot can see within a certain ...
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1answer
196 views

Local Localisation with particle filter

I am doing Local Localisation with sonar, particle filter (i.e all particles are initially with robot pose). I have grip map of environment. When I execute algorithm in environment (where doors are ...
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1answer
211 views

Can you seed a Kalman filter with a particle filter?

Is there a way of initializing a Kalman filter using a population of particles that belong to the same "cluster"? How can you determine a good estimate for the mean value (compute weighted average ?) ...
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Particle filters: How to do resampling?

I understand the basic principle of a particle filter and tried to implement one. However, I got hung up on the resampling part. Theoretically speaking, it is quite simple: From the old (and ...