Questions tagged [probability]

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EKF SLAM : Missing older landmarks in new observation

I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
3
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2answers
189 views

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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0answers
28 views

Lost on SEIF Slam repeated update landmark

I am working on Sparse Extended Information Slam. I take the reference from Probabilistic Robotics, by Dr.Sebastian Thrun (Chapter 12,page 303). I have some doubt about the implementation of the ...
1
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0answers
83 views

Probabilistic Velocity Obstacles

I have been working with the Velocity Obstacles concept. Recently, I came across a probabilistic extension of this and couldn't understand the inner workings. Source: Recursive Probabilistic ...
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0answers
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 ...
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0answers
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 ...
0
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2answers
41 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 ...