Localization

Implementation of filters for Mobile Robot Localization

Usage

• Install the requirements using

sudo pip install -r requirements.txt

• Run Kalman Filter as follows

$ python main.py --filter Kalman

• For the complete list of options, run

$ python main.py --help

Contents

• Kalman Filter
• Particle Filter

Kalman Filter

Fig 1: Original path of motion

Fig 2: Comparison of motion from different view points. The filter used to smoothen the data is done by Savitzky-Golay filter by fitting a 3rd degree polynomial on a window of size 20.

Fig 3: Comparison of data distribution as a function of time of flight of motion.

Particle Filter

Fig 1 Particle filter with particles of size 10

Fig 2 Particle filter with particles of size 100

Fig 3 Particle filter with particles of size 500

To-do

• Kalman Filter
• Particle Filter
• Histogram Filter
• Benchmarking the filters