Laser importance param #26
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dimaxano
requested review from
artemiialessandrini,
cmraaron and
TanmayDeshmukh
cmraaron
approved these changes
Dec 30, 2022
TanmayDeshmukh
approved these changes
Jan 2, 2023
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Purpose
As the store and warehouse environment are pretty dynamic environments, out static map can become useless at some point at certain places. Probabilistic Robotics says that for such cases it is useful to make laser scanner sensor less confident about the measurements it makes.
Approach
Exponentiate particles score with a coefficient in range [0;1]. Doing that makes particles' weights closer to each other, which makes it less obvious for AMCL what particles to remove and what to leave.