Voting period is over. Please don't add any new votes. Voting period ends on 13 Apr 2013 at 00:19:30 (UTC)
The algorithm initializes with a uniform distribution of particles. The robot considers itself equally likely to be at any point in space along the corridor.
Sensor update: the robot detects a door. It assigns a weight to each of the particles. The particles which are likely to give this sensor reading receive a higher weight.
Resampling: the robot generates a set of new particles, with most of them generated around the previous particles with more weight. It now believes it is at one of the three doors.
Motion update: the robot moves some distance to the right. All particles also move to the right, and some noise is applied to simulate the real world.
Sensor update: the robot detects the absence of a door. It assigns a weight to each of the particles. The particles which are likely to give this sensor reading receive a higher weight.
Resampling: the robot generates a set of new particles, with most of them generated around the previous particles with more weight. It now believes it is at one of two doors.
Motion update: the robot moves some distance to the left. All particles also move to the left, and some noise is applied to simulate the real world.
Sensor update: the robot detects a door. It assigns a weight to each of the particles. The particles which are likely to give this sensor reading receive a higher weight.
Resampling: the robot generates a set of new particles, with most of them generated around the previous particles with more weight. The robot has successfully localized itself!
Reason
A set of high quality vector diagrams that clearly illustrate how Monte Carlo localization works. The nine pictures here depict three time steps of the algorithm for a very simple example where a robot is attempting to determine its position in a corridor with three identical doors.
Support as nominator --dllu(t,c) 00:19, 4 April 2013 (UTC)[reply]
Withdraw nomination it seems that I have not yet done a sufficiently good job of making these diagrams understandable for all audiences. dllu(t,c) 11:30, 5 April 2013 (UTC)[reply]
