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recursive state estimation und paar kommentare.

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Toni
2016-02-10 01:36:27 +01:00
parent 2f838df6e9
commit 0f657dc057
4 changed files with 54 additions and 25 deletions
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tex/chapters/sensors.tex
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@@ -78,7 +78,9 @@
\subsection{Step- \& Turn-Detection}
To prevent degradation within the particle-filter \cite{??} due to downvoting of particles with increased
heading deviation, we incorporate the turn-detection as control-data \commentByToni{ich würde es jetzt nicht unbedingt controldata nennen. einfach nur das wir die observation in die transition integrieren. fertig.} directly into the transition
heading deviation, we incorporate the turn-detection as control-data
\commentByToni{ich würde es jetzt nicht unbedingt controldata nennen. einfach nur das wir die observation in die transition integrieren. fertig. für den cite oben habe ich eine sehr sehr gute quelle. der beschreibt das ganz gut. hab das bei mir in der MA so begründet: Another big disadvantage is the high possibility of sample impoverishment due to a small measurement noise. This happens since accurate observations result in high peaks of the evaluation density and therefore the importance density is not able to sample outside that peak [IB98b].}
directly into the transition
$p(\mStateVec_{t} \mid \mStateVec_{t-1}, \mObsVec_{t-1})$.
\cite{thrun?}\cite{lukas2014?} to get a more directed sampling instead of a truly random one.