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They also had nice tutorials on particle filters. I can't find the one I wanted but these are close: https://cecas.clemson.edu/~ahoover/ece854/refs/Djuric-Part
by esafak 2y ago
They also had nice tutorials on particle filters. I can't find the one I wanted but these are close:
https://cecas.clemson.edu/~ahoover/ece854/refs/Djuric-ParticleFilter.pdf https://cecas.clemson.edu/~ahoover/ece854/refs/Djuric-Partic...
https://eprints.lancs.ac.uk/id/eprint/53537/1/Introduction_to_BPF_2013_IEEE_SPM.pdf https://eprints.lancs.ac.uk/id/eprint/53537/1/Introduction_t...
https://ieeeoes.org/wp-content/uploads/2021/02/BPF_SPMag_07.pdf https://ieeeoes.org/wp-content/uploads/2021/02/BPF_SPMag_07....
- namibj 2y agoThanks, I'll see about Box-PF when trying to get IMU-filtered indoor-localization working (once I hopefully get that far with the UWB firmware [0]). Accounting for clock drift across the "satellites" is going to be "fun", but at least it's both useful in practice and of manageable complexity/scope. [0]: I'll happily talk about it at 39c3.
- jhoydich 2y agoPF is a great tool for UWB. Even without IMU data and instead adding uniform diffusion of the particles between updates tracking worked well in a 2D environment. It sounds like you're working on TDOA for UWB?
- brcmthrowaway 2y agoits a pity there are no good software packages for particle filters
- esafak 2y agoI haven't used them yet but I know of pyro, pfjax, and pymc: https://pyro.ai/examples/smcfilter.html https://pyro.ai/examples/smcfilter.html https://pfjax.readthedocs.io/ https://pfjax.readthedocs.io/ https://www.pymc.io/projects/examples/en/latest/samplers/SMC2_gaussians.html https://www.pymc.io/projects/examples/en/latest/samplers/SMC...
- jvanderbot 2y agoThe problem with this idea is that deriving all the propagation and measurement functions and associated jacobians is 99% of the problem. Once that's done you can implement literally any filter from them using Wikipedia.
- brcmthrowaway 2y agoParticle filters dont need jacobians?