github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

add histogram filter animation and test

Browse Source
This commit is contained in:
Atsushi Sakai
2018-03-18 10:21:10 -07:00
parent b355215a5d
commit eb69bae741
4 changed files with 42 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
README.md
View File

@@ -11,7 +11,8 @@ Python codes for robotics algorithm.
* [Localization](#localization)
* [Extended Kalman Filter localization](#extended-kalman-filter-localization)
* [Unscented Kalman Filter localization](#unscented-kalman-filter-localization)
* [Particle Filter localization](#particle-filter-localization)
* [Particle filter localization](#particle-filter-localization)
* [Histogram filter localization](#histogram-filter-localization)
* [Mapping](#mapping)
* [Gaussian grid map](#gaussian-grid-map)
* [Ray casting grid map](#ray-casting-grid-map)
@@ -97,6 +98,10 @@ the green point is positioning observation (ex. GPS), and the red line is estima
The red ellipse is estimated covariance ellipse with EKF.
Ref:
- [PROBABILISTIC ROBOTICS](http://www.probabilistic-robotics.org/)
## Unscented Kalman Filter localization
![2](https://github.com/AtsushiSakai/PythonRobotics/raw/master/Localization/unscented_kalman_filter/animation.gif)
@@ -109,7 +114,8 @@ Ref:
- [Discriminatively Trained Unscented Kalman Filter for Mobile Robot Localization](https://www.researchgate.net/publication/267963417_Discriminatively_Trained_Unscented_Kalman_Filter_for_Mobile_Robot_Localization)
## Particle Filter localization
## Particle filter localization
![2](https://github.com/AtsushiSakai/PythonRobotics/raw/master/Localization/particle_filter/animation.gif)
@@ -123,6 +129,27 @@ It is assumed that the robot can measure a distance from landmarks (RFID).
This measurements are used for PF localization.
Ref:
- [PROBABILISTIC ROBOTICS](http://www.probabilistic-robotics.org/)
## Histogram filter localization
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/Localization/histogram_filter/animation.gif)
This is a 2D localization example with Histogram filter.
In this simulation, x,y are unknown, yaw is known.
The filter integrates speed input and range observations from RFID for localization.
Initial position is not needed.
Ref:
- [PROBABILISTIC ROBOTICS](http://www.probabilistic-robotics.org/)
# Mapping
## Gaussian grid map
@@ -575,3 +602,4 @@ Atsushi Sakai ([@Atsushi_twi](https://twitter.com/Atsushi_twi))