Lesson 3: Particle Filter - Orientation -
Lesson 3: Particle Filter - Orientation -
Synchronization of Particles' Orientation with Bot's Heading After a Sequence of Movements
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".
![03 ParticleFilter 04 World 01](/f/2/_processed_/2/0/csm_03_ParticleFilter_04_World_01_f2270507d2.png)
![03 ParticleFilter 04 World 02](/f/2/_processed_/0/d/csm_03_ParticleFilter_04_World_02_9adc47be61.png)
![03 ParticleFilter 04 World 03](/f/2/_processed_/4/5/csm_03_ParticleFilter_04_World_03_5e5c586739.png)
![03 ParticleFilter 04 Orientation 01](/f/2/_processed_/9/d/csm_03_ParticleFilter_04_Orientation_01_20cd739aed.png)
![03 ParticleFilter 04 Orientation 02](/f/2/_processed_/7/c/csm_03_ParticleFilter_04_Orientation_02_5744778bfe.png)
![03 ParticleFilter 04 Orientation 03](/f/2/_processed_/8/0/csm_03_ParticleFilter_04_Orientation_03_828cc3bc8b.png)
![03 ParticleFilter 04 Orientation 04](/f/2/_processed_/1/b/csm_03_ParticleFilter_04_Orientation_04_7317d7ddeb.png)
![03 ParticleFilter 04 Orientation 05](/f/2/_processed_/6/9/csm_03_ParticleFilter_04_Orientation_05_c297f17703.png)
![03 ParticleFilter 04 Orientation 06](/f/2/_processed_/9/a/csm_03_ParticleFilter_04_Orientation_06_4f7a40c870.png)
![03 ParticleFilter 04 Orientation 07](/f/2/_processed_/5/a/csm_03_ParticleFilter_04_Orientation_07_9dbb99e160.png)
![03 ParticleFilter 04 Orientation 08](/f/2/_processed_/8/c/csm_03_ParticleFilter_04_Orientation_08_7fb9dc3013.png)
![03 ParticleFilter 04 Orientation 09](/f/2/_processed_/1/2/csm_03_ParticleFilter_04_Orientation_09_75e36ee4ab.png)
![03 ParticleFilter 04 World 05](/f/2/_processed_/6/0/csm_03_ParticleFilter_04_World_05_d4d36244a7.png)
![03 ParticleFilter 04 Orientation 10](/f/2/_processed_/3/e/csm_03_ParticleFilter_04_Orientation_10_e4162a8503.png)
![03 ParticleFilter 04 Orientation 11](/f/2/_processed_/e/1/csm_03_ParticleFilter_04_Orientation_11_72ec781f8d.png)
![03 ParticleFilter 04 Orientation 12](/f/2/_processed_/4/f/csm_03_ParticleFilter_04_Orientation_12_84949324d4.png)
![03 ParticleFilter 04 Orientation 13](/f/2/_processed_/c/1/csm_03_ParticleFilter_04_Orientation_13_0571344ff8.png)
![03 ParticleFilter 04 Orientation 14](/f/2/_processed_/1/d/csm_03_ParticleFilter_04_Orientation_14_62acbeea1f.png)
![03 ParticleFilter 04 Orientation 15](/f/2/_processed_/d/7/csm_03_ParticleFilter_04_Orientation_15_d2120ac783.png)
![03 ParticleFilter 04 World 06](/f/2/_processed_/8/b/csm_03_ParticleFilter_04_World_06_cff3012c60.png)
![03 ParticleFilter 04 Orientation 16](/f/2/_processed_/f/0/csm_03_ParticleFilter_04_Orientation_16_3b39522424.png)
![03 ParticleFilter 04 Orientation 17](/f/2/_processed_/e/8/csm_03_ParticleFilter_04_Orientation_17_6a4ede2902.png)
![03 ParticleFilter 04 Orientation 18](/f/2/_processed_/0/b/csm_03_ParticleFilter_04_Orientation_18_eec514d77c.png)
![03 ParticleFilter 04 Orientation 19](/f/2/_processed_/a/d/csm_03_ParticleFilter_04_Orientation_19_0d92f03e8c.png)
![03 ParticleFilter 04 Orientation 20](/f/2/_processed_/a/b/csm_03_ParticleFilter_04_Orientation_20_394ee7423c.png)
![03 ParticleFilter 04 Orientation 21](/f/2/_processed_/8/6/csm_03_ParticleFilter_04_Orientation_21_9560393401.png)
![03 ParticleFilter 04 Orientation 22](/f/2/_processed_/2/f/csm_03_ParticleFilter_04_Orientation_22_cd6f11132b.png)