Monte Carlo localization algorithm

Hi,

When applying "monteCarloLocalization" object, I would like to modify the part where the weights (or may be likelihood function) of particles are computed.

So, I am wondering where I can do it.

Where (or a property of the object) do the wiehgts (or lilkelihood function) are calculated when using "monteCarloLocalization" object?

Thanks,

Answer 1

[Kiran Felix Robert]

Hi John,

The likelihood for the montecarloLocalization can be set using the ‘SensorModel’ property of the montecarloLocalization object. Refer to the montecarloLocalization object documentation for more details.

Also refer to this documentation for additional details and refer likelihoodFieldSensorModel object documentation for creating a likelihood field range sensor model.

Kiran Felix Robert

[John Lee]

Thanks, Kiran

I already have been those links but I could not see anything where I can modigy the codes.