Clustering for pose estimation
Closed this issue · 3 comments
hidmic commented
Feature description
Connected to #172. Good ol' AMCL computes sampled mean and covariance from particle clusters, whereas Beluga AMCL computes sampled mean and covariance for the entire posterior particle cloud. Regardless of any arguments in favor or against either approach, Beluga AMCL should offer the choice. We need another estimation mixin.
glpuga commented
Do we know any paper/source for the implementation of this by AMCL?
hidmic commented
Not that I know of. That said, the idea of clustering has been floating around for a long while e.g. https://arxiv.org/pdf/cs/0204044.pdf.