particles filter, mcl & augmented mcl chee yu. bayes filter
TRANSCRIPT
1. Algorithm systematic_resampling(S,n):
2.
3. For Generate cdf4. 5. Initialize threshold
6. For Draw samples …7. While ( ) Skip until next threshold reached8. 9. Insert10. Increment threshold
11. Return S’
Resampling Algorithm
11,' wcS
ni 2i
ii wcc 1
1],,0[~ 11 inUu
nj 1
11
nuu jj
ij cu
1,'' nxSS i
1ii
Also called stochastic universal sampling
Problems
• What if we throw in random variables?
• Yeah! But when and how many?
• Look at the average weight? No…
• Then, what?
Suggestions• Use creative ways to learn .• Finish the project . on understanding instead of
random try, Google search and friends.• When facing problems try to find out what you
don’t understand.• Do not ask Dr. Sridharan too specific information
about homework in order to just finish the assignment without understanding the material.
• Able to finish the homework after being given lot of hints does not means you understand.
• You should be able to applied what you learned to a new problem.