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Particle Filter

Particle Filter. Contents. Brief Introduction Concept on Particle Filter Details about errors. Uses. Track a variable of interest in the system Example in the paper: localization Noise, Variable : Position. Characteristic. Monte Carlo Method Not restricted to Kinematics

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Particle Filter

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  1. Particle Filter

  2. Contents • Brief Introduction • Concept on Particle Filter • Details about errors

  3. Uses • Track a variable of interest in the system • Example in the paper: localization • Noise, • Variable: Position

  4. Characteristic • Monte Carlo Method • Not restricted to Kinematics • The gist: filter particles by feedback evaluation

  5. Example System • Movable robot Rotation Translation

  6. Particle Filter Method • Prediction Phase • Update Phase • Prerequisites: Particles Particles Sample

  7. Prediction Phase • Take an actually move (interval) New Pose

  8. Forward change to all Particles • Apply the change to all particles Error

  9. Update Phase • To update the weights of all particles • Measurement

  10. Update Phase • Measurement

  11. Update Phase • Compute Measurement of Each particle • Use the measurement to decide weight

  12. The effect of ρ,θ,Φ

  13. Resampling • Eliminate particles with minor weights • Keep and propagate the particles with large weights • The significance of keep copies of large weight particles:

  14. Select with Replacement • Object: eliminate minor weight particles, but leave large ones • 1. Compute cumulative sum: • Sample N random numbers and sort them: • If Ti < Qj, then choose particle j, otherwise drop particle j • If particle J is chosen, then i++, if Ti+1 still < Qj then chose particle J another time and likewise.

  15. Prediction Error: Rotation • Sway a little bit when rotate The more the robot rotates the more deviation the error would be

  16. Prediction Error: Translation • May not follow a rigorous straight line • Choppy • Periodical emulation

  17. Prediction Error: Translation : Length of each sub segment

  18. The end Thank you!

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