Lesson 3: Particle Filter - Orientation -
Thrun demonstrates that particles with initial random headings will only survive when they synchronize their orientation with the heading of the bot when moving in his world. This sychronization is established by the higher likelihood of particles with positions and headings similar to those of the bot when moving along a trajectory in bot's world. As can be seen from the posterior density plots (especially for Headings) the standard deviations of particle headings reduce drastically after ten movements. They are in the two examples shown smaller that 0.15. The heading of the particles after 10 moves (Turn = 0.1; Forward = 5.0) is approximately 145 degrees: the particles "look" similar to the bot "north-west".