https://github.com/p16i/particle-filter

https://github.com/p16i/particle-filter

particle-filter simulation

Last synced: 2 months ago
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• Host: GitHub
• URL: https://github.com/p16i/particle-filter
• Owner: p16i
• Created: 2018-06-26T22:10:44.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2023-07-06T21:23:37.000Z (over 1 year ago)
• Last Synced: 2024-04-09T14:57:15.848Z (10 months ago)
• Topics: particle-filter, simulation
• Language: Python
• Size: 65.4 MB
• Stars: 11
• Watchers: 2
• Forks: 4
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

        
# Monte Carlo Particle Filter for Localization

 Particle Filter Algorithm is a nonparametric implementation of

 the Bayes Filter to approximate state, for example of a robot moving in a maze.

 

 The idea is to represent the posterior belief by a finite number of random variables (particles).

  The algorithm is repeatedly resampling those particles based on likelihood derived from a measurement model.

This project is a examination project for SS18 [Monte Carlo Methods in Artificial Intelligence and Machine Learning](https://www.ki.tu-berlin.de/menue/lehre/sommersemster_2018/) course taught by Prof. Dr. Manfred Opper and Theo Galy-Fajou, at TU Berlin.

[[Presentation]](https://docs.google.com/presentation/d/1YpLM_q6YCEqP6g9y3OdV3z-X419Sa1krqwrsSDCFI6g)

## Setup

```

pip install -r requirements.txt

```

## Usage

```

> python particle-filter.py

Options

    - scene :  [scene-1, scene-2, scene-1-kidnapping, scene-2-kidnapping, scene-8.12]

    - no_particles : number of particles, for example 100.

    - total_frames :  total time step to run the simulation, it's useful for debugging.

    - show_particles : a boolean option whether to show the particles.

    - no_random_particles: number of random particles introduced to the system, required for kidnapping scenes.

    - save : a boolean option whether to see the simulartor live or save the result as a video.

    - frame_interval : time interval for each frame, default is 50s.

```

### Example

```

python particle-filter.py --scene scene-1 --no-particles 100 --save

```

![](https://i.imgur.com/RxP35Wa.png)

![](https://i.imgur.com/smYPY13.gif)

## Members

Anders Dahl Hjort, Luis Dreisbach, and Pattarawat Chormai