# 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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### Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?

I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data. The algorithm is based on a space-time finite element where the ...
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### Particle Filter for IMU tilt angle and bias estimation from Kalman Filter models

I understand the functioning of Particle Filters from the book Probabilistic Robotics and the robotics course provided by Cyrill Stachniss. I want to implement, from scratch, a particle filter to ...
85 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 ...
53 views

### 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 ...
204 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 ...
154 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 ...
76 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: ...
115 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 ...
53 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, ...
41 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 ...
18 views

### Particle filter: do I always need for every system a dynamic model system?

I have a very basic question about particle filters and their applications. I know Kalman filters and I have implemented some of them. Taking a linear and unimodal Kalman filter, then I need a ...
21 views

### difference between particle filter in slam and normal particle filter

I would like to ask you about what is the difference between particle filter when we use it in Slam methods and when we use it normally to correct our sensor measurement. I mean, is there any ...