Checking in on Particle Filter Project

Checking in on Particle Filter ProjectPermalink

For Next TimePermalink

  • Continue to work on your particle filter project. Note that the project is due 10/12.

So… how’s it going?Permalink

Here is a survey to figure out how things are going.

update_particles_with_odomPermalink

You need to think about what delta is. Draw a picture. If you are just adding the entries of delta to the corresponding field of your partifles, you are not doing it correctly.

update_particles_with_laserPermalink

To be clear, we are suggesting you implement the likelihood (or beam) model. Here are some resources.

  1. Consider consulting Probabilistic Robotics. Specifically 6.4 contains the information about likelihood fields.

  2. Sarah Sebo (Olin alum) has some nice resources that break down the particle filter likelihood a bit more simply.

Possible ExtensionsPermalink

Here are some possible extensions (from the survey). In the open work time we can provide more detail on how these might work.

  • I want to solve the robot kidnapping problem (unknown starting location)
  • I want to reimplement the parts of the filter that were written for me (interactions with ROS)
  • I want to experiment with laser scan likelihood functions
  • I want to try to implement ray tracing instead of the likelihood field
  • I want to understand in greater detail the connection between Bayes’ filter and the particle filter
  • I want to make my particle filter more computationally efficient
  • I want to experiment with landmark-based likelihood functions