Implementation of filters for Mobile Robot Localization
- 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
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.
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
- Kalman Filter
- Particle Filter
- Histogram Filter
- Benchmarking the filters