# Questions tagged [probability]

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### 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 ...
25 views

### Robot Localization - Motion and Sense Probability

I'm currently taking Udacity's AI for robotics course and came across a question that stumped me. The problem plays on localization probability given uncertainty in our measurement updates. The first ...
66 views

### Which math books would help in learning SLAM systems? [closed]

Recently I started studying papers on SLAM systems by Durrant-Whyte for my research and I'm finding some difficulties in the math (matrices and probability) that is tackled in these papers. Which ...
57 views

### Basic question about Markov Localization, probability and belief distribution shift

I am starting in robotics, and reading about Markov Localization, I have one doubt, probably very stupid, but, well, I want to solve it. Let's take the CMU Website example: https://www.cs.cmu.edu/afs/...
25 views

### Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
140 views

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### Probabilistic Robotics: Map-based motion model [closed]

I asked the following question in math.stackexchange, but realized that this might be the more appropriate place to post it: How did Thrun derive the following formula: (Context here) I think that ...
149 views

### Markov Localization using control as an input

When using Hidden Markov Models in Global Localization problems on the prediction step there is a need to calculate the probability of robot's pose given the actions (control u, odometry): ...
401 views

### What is the best way to compute the probabilistic belief of a robot equipped with a vision sensor?

I am trying to implement 'belief space' planning for a robot that has a camera as its main sensor. Similar to SLAM, the robot has a map of 3D points, and it localizes by performing 2D-3D matching with ...
323 views

### Understanding and implementing belief space planning

I am currently working on state estimation/navigation for a system with multiple robots. As of now, what I have is each robot localizing itself with a Kalman filter, given vision based measurements. ...
479 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 ...
172 views

### Modeling a robot to find its position

The task of the robot is as follows. My robot should catch another robot in the arena, which is trying to escape. The exact position of that robot is sent to my robot at 5Hz. Other than that I can use ...
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 ...
135 views

### Grid mapping probability calculation algorithmic complexity

I have stumbled upon an equation (http://i.stack.imgur.com/hv64E.png), where the probability of an occupancy grid map cell is calculated. My teacher insists that it's possible to approximate the ...
73 views

### Non-markovian problems/approaches in robotics

As far as i can tell, the markov assumption is quite ubiquitous in probabilistic methods for robotics and i can see why. The notion that you can summarize all of your robot's previous poses with its ...
I am trying to calculate likelihood of laser scan($Z$) at give pose($x$) with known map ($m$) using beam based model $P\left(z_t|x_t,m \right)=\prod_{i=1}^{n}P'\left(z_i|x_t,m \right)$ My scan ...