A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
BSD 3-Clause "New" or "Revised" License
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ParticleFilter::resample() does not remove first particle collectly #232
In the screenshot above, there is a particle far away from others. This wrong particle did not disappear after the robot moved.
This happens because there is a bug in resampling algorithm.
In ParticleFilter::resample(), the first particle always remains because the value of "pscan" is always 0 when i = 0.
In the screenshot above, there is a particle far away from others. This wrong particle did not disappear after the robot moved. This happens because there is a bug in resampling algorithm. In ParticleFilter::resample(), the first particle always remains because the value of "pscan" is always 0 when i = 0.