/particle-filter-localization

Automatically exported from code.google.com/p/particle-filter-localization

Primary LanguageMATLAB

README

main.m - the main loop used to run the particle filter

generateRandomParticles.m - used to generate random particles

beam_range_finder_model.m - beam range finder model

calcProbHit.m - calculate hit probability

calcProbMax.m - calculate max probability

calcProbShort.m - calculate short probability

creatLocalMap.m - create a local map around the robot

displayObservationPdf.m - display observation pdf

ESS.m - calculate effective sampling size

findExpectedRange.m - find expected range using bresenham algorithm

findExpectedRange_.m - find expected range using  our own faster, parallel ray casting method

generate_robo_mask.m - decide how the robot looks like

generateFocussedRandomPartilces.m - generate particles focussed around a point

likelyhood_field_range_finder_model.m - generate probability based on likelyhood field

move_particle.m - move particles using odometry model

quaternion_multiply.m - parallel quaternion multiplication

quatrotate_.m - parallel quaternion rotation

readlogfiles.m - read log file

readmap.m - read map

stochastic_resample.m - parallel stochastic resampling

testBeamRange.m

testMeasurementModel.m

testRayCast.m

testWeight.m

visualize_motion_model.m

visualize_pf.m