●° Examp| e problem ●●●● Initial belief. Unknown orientation Action Sense landmark
Example problem Initial belief: Sense Landmark Action Unknown orientation
Thrun, Fox, Burgard and Dellaert, 2001 oo Robot Localization using SIR Initial Sample Set Initial belief. Unknown orientation
Thrun, Fox, Burgard and Dellaert, 2001 Robot Localization using SIR • Initial Sample Set Initial belief: Unknown orientation
Thrun, Fox, Burgard and Dellaert, 2001 oo Robot Localization using SIR ※ For each sample X, 1, sample from action p(x|X:12a) 10(x)=p(x|X11)
Thrun, Fox, Burgard and Dellaert, 2001 Robot Localization using SIR • Action For each sample xt-1, sample from p(xt|xt-1,at) xt-1 q(x) = p(xt|xt-1,at-1)
Thrun, Fox, Burgard and Dellaert, 2001 oo Robot Localization using SIR For each sample x,1, sample from p(X X 1,a, Sense Landmark q(x)= W(X)= p(x1|x12)p(2×) oo
Thrun, Fox, Burgard and Dellaert, 2001 Robot Localization using SIR • Sense Landmark For each sample xt-1, sample from p(xt|xt-1,at) q(x) = w(x) = xt-1 p(xt|xt-1,at-1) p(zt|xt)