Particle Filter

This is a path reconstruction experiment using a particle filter. The cloud of particles moves as the robot receives new information from odometry. Sometimes, the robot detects a traffic sign and it can be any of the five {Ei}. For each one, there are two possible robot positions. The blinking circles indicate all the 10 possibilities. Particles with low weight (probability) are "killed" and the good ones are replicated. The green path was obtained using only prediction (odometry). The blue one uses the complete particle filter (prediction and correction). See details in "Mobile robot outdoor localization using planar beacons and visual improved odometry"

Category:

Science & Technology

Tags:

• particle
• filter