FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

changes in kld walker

Browse Source
This commit is contained in:
toni
2018-07-12 11:11:11 +02:00
parent b50995ffe6
commit d96f0588c2
5 changed files with 23 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h
View File

@@ -74,10 +74,11 @@ namespace SMC {
// with the resampled particle-set // with the resampled particle-set
for (uint32_t i = 0; i < cnt; ++i) { for (uint32_t i = 0; i < cnt; ++i) {
// slight chance to get a truely particle in range X m // slight chance to get a truely random particle in range X m
if (distNewOne(gen) < 0.001) { if (distNewOne(gen) < 0.001) {
const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, 10.0); const double radius = 50.0;
particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, 10.0); const NM::NavMeshSub<Tria> reachable(particlesCopy[i].state.pos, radius);
particles[i].state.pos = reachable.getRandom().drawWithin(particlesCopy[i].state.pos.pos, radius);
particles[i].weight = equalWeight; particles[i].weight = equalWeight;
continue; continue;
} }

9
smc/smoothing/FastKDESmoothing.h
View File

@@ -210,6 +210,15 @@ namespace SMC {
BoxGaus<float> boxGaus; BoxGaus<float> boxGaus;
boxGaus.approxGaus(grid.image(), sigmaX, sigmaY, nFilt); boxGaus.approxGaus(grid.image(), sigmaX, sigmaY, nFilt);
/**
* Das hier wird nicht funktionieren!
* Wir machen eine Transition von t zu t+1 und nehmen dann diese position um von der kde aus t+1 ein
* Gewicht zu erhalten... aber das bringt ja nichts, diese Gewicht haben wir doch schon auf den partikeln in t+1
* die transition macht ja nicht 2x was anderes, sondern wieder genau das gleiche.
* was das smoothing gut macht, sind die Faltungen mit allen Partikeln (jeder mit jedem vergleichen).
**/
// Apply Position from Samples from q_t+1* into KDE of p(q_t+1 | o_1:T) to get p(q_t+1* | o_1:T) // Apply Position from Samples from q_t+1* into KDE of p(q_t+1 | o_1:T) to get p(q_t+1* | o_1:T)
// Calculate new weight w(q_(t|T)) = w(q_t) * p(q_t+1* | o_1:T) * p(q_t+1* | q_t) * normalisation // Calculate new weight w(q_(t|T)) = w(q_t) * p(q_t+1* | o_1:T) * p(q_t+1* | q_t) * normalisation
smoothedParticles = forwardHistory.getParticleSet(i); smoothedParticles = forwardHistory.getParticleSet(i);