hunkyu/particle_filter_localization_demo

This is a demo which implemented a 2D LiDAR localization with particle filter. The animations and explanations were put in the README for better understanding.

Particle Filter Localization Demo

Understand Particle Filter by example and animations.

Example

Relocalization

Localization with vibration

Stable Localization

Setup

Prerequisite

• Eigen3
• python3
• matplotlib

Install

sudo apt-get install cmake python3 python3-matplotlib libeigen3-dev

Compile

mkdir build
cd build
cmake ..
make -j8
make install

References

• Probabilistic Robotics
• Tutorial on Monte Carlo Techniques
• PythonRobotics Paricle Filter Localization

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Author

• Xiaoxing Chen