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Nonparametric Filters (Particle Filter)

Non-parametric Filters Particle Filters

The goal of localization is to determine the pose(s) of a robot given a map of the environment as well as the noisy sensor measurements, e.g., wheel odometry and laser distance measurements. This form of state estimation can be achieved with non-parametric filters, such as particle filters.

Resources

  • Probabilistic Robotics by Sebastian Thrun, Wolfram Burgard and Dieter Fox, chapter 4, "Nonparametric Filters" (Amazon.com, Amazon.de, affiliate links)

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