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More small fixes

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MBulli
2018-09-16 20:31:21 +02:00
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tex/chapters/misc.tex
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@@ -47,7 +47,7 @@ Especially, methods using relative measurements like pedestrian dead reckoning a
Nevertheless, this method is very easy to implement and we expect that the system should be able to recover from nearly every situation regardless of the cause.
A second method we suggest within this paper is a simplified version of our approach presented in \cite{Fetzer-17}.
Here, we used an additional, very simple particle filter to monitor if our primary (localisation) filter suffers from sample impoverishment.
Here, we used an additional, very simple particle filter to monitor if our primary (localization) filter suffers from sample impoverishment.
If that is true, both filters are combined by exchanging particles among each other.
This allows the primary filter to recover, while retaining prior knowledge.
However, we believe that such a combination of two independent filters is not necessary for most scenarios and thus the resulting overhead can be avoided.