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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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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Particle filter with error states

I am new to particle filters and I have a particle filter based on this: $$x_{k+1} = f_{k}(x_{k},\omega_{k})$$ $$y_{k+1} = h_{k}(x_{k},v_{k})$$ $$x = [\delta \phi, \delta \theta, \delta \psi, \delta ...
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0answers
199 views

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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134 views

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
46 views

What should be the prediction step in particle filter?

I am implementing a particle filter using MATLAB. I am implementing it first time. I have written the system model and measurement model. Given below: ...
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0answers
84 views

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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0answers
44 views

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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0answers
36 views

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
21 views

Vehicle Odometry Correction Using Lidar Contour Points (Localization)

I am currently working on a project where... Vehicle travels from point A to B GPS trajectory is used as a reference Vehicle odometry (bicycle model without slip angle beta) was used to estimate a ...
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1answer
65 views

Collaboration of mobile robot and survaillance camera - classic localization (still) needed?

Just started with the topic of mobile robotics.. so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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2answers
36 views

Implementation of a particle filter algorithm

How do you calculate the likelihood of making an observation ? Does someone have a link to a book or article that explains the math that you need to do to implement a PF algorithm? Conceptually i ...