Lecture 8 - Localization: Particle FilterΒΆ


In this lecture we will understand particle filters in general, and especially particle filters used for Monte Carlo localization so for localizing robot in an environment given that we have a map.

Topics Covered:
  • Map making with Hector SLAM

  • Particle Filter Localization

  • Adaptive Monte Carlo Localization (AMCL)

  • Recursive Bayes Filtering used in AMCL

  • Tuning Particle Filters in ROS First race of the semester!! See Race 1 for more information on how to setup and evaluate the race.



Links to additional resources: