バージョン (4.28 KB) 作成者: Aaron T. Becker's Robot Swarm Lab
Tutorial code on particle filtering for 1D

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更新 2015/4/22


Particle filter example in 1D. "MCLin1Dsimple" implements Monte-Carlo Localization in one Dimension.
Simulates particle filtering in 1D using MCL algorithm (table 8.2) from
"Probabilistic Robotics", (Intelligent Robotics and Autonomous Agents
series) Hardcover – August 19, 2005 by Sebastian Thrun, Wolfram Burgard,
Dieter Fox.
This simple implementation is designed for teaching. It has pauses, and
you must press a key to step through the simulation. Displays the particles before moving in blue (with a histogram), the actual position after moving with a red line, the measurement with a magenta line, the particles propagated forward by the motion model and weighted according to the measurement in black, and the resampled particles in red (with a histogram).

Aaron T. Becker, University of Houston


Aaron T. Becker's Robot Swarm Lab (2022). MCLin1Dsimple (, MATLAB Central File Exchange. 取得済み .

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