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Atsushi Sakai
2018-11-16 21:54:42 +09:00
parent 953cc3857e
commit ad9173f0ae
5 changed files with 7 additions and 10 deletions
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2
Localization/Kalmanfilter_basics.ipynb
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@@ -108,7 +108,7 @@
"\n",
"This is for a multivariate distribution. For example, a robot in 2-D space can take values in both x and y. To describe them, a normal distribution with mean in both x and y is needed.\n",
"\n",
"For a multivariate distribution, mean $\\mu can be represented as a matrix, \n",
"For a multivariate distribution, mean $\\mu$ can be represented as a matrix, \n",
"\n",
"$$\n",
"\\mu = \\begin{bmatrix}\\mu_1\\\\\\mu_2\\\\ \\vdots \\\\\\mu_n\\end{bmatrix}\n",

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Localization/Kalmanfilter_basics_2.ipynb
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@@ -43,9 +43,9 @@
"\n",
"The filter works in two parts:\n",
"\n",
"$\\bullet$ $p(x_{t} | x_{t-1},u_{t})\\rightarrow $**State Transition Probability**\n",
"$p(x_{t} | x_{t-1},u_{t})$ -> **State Transition Probability**\n",
"\n",
"$\\bullet$ $p(z_{t} | x_{t}) \\rightarrow $**Measurement Probability**\n",
"$p(z_{t} | x_{t})$ -> **Measurement Probability**\n",
"\n",
"\n",
"### Conditional dependence and independence example:\n",