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anqixu / comp417_fall2014_assignment_1_mcl

comp417_fall2014_assignment_1_mcl
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Question on probabilities #3

Closed BenedicteLC closed 10 years ago

BenedicteLC commented 10 years ago

I'm wondering how to compute the probability of z given x_i. Can we use the l2 norm of the distance between the real scan and the simulated scan for each particle in our calculations?

anqixu commented 10 years ago

You are free to choose any conditional probability distribution (CPD), as long as you achieve the goal of this assignment, which is to implement a particle filter and get it (the particle cloud and the resulting pose estimate for the robot) to track the real robot. If you believe that l2 norms will work, then by all means use them.

Make sure to provide a short write-up to explain your design and implementation choices, and provide screenshot(s) to demonstrate that your solution works.

Hint: a CPD must output a probability, thus your function must satisfy all the conditions for a measure of probability.