Introduction to Bayesian localisation
Bayes rule
- Venn diagram
- P(A|B) = P(A&B)/P(B), P(B|A) = P(A&B)/P(A) -> P(A|B)P(B) = P(B|A)P(A) -> P(A|B) = P(A)P(B|A)/P(B)
Process Updates: P(S') = Sum_S P(S).P(S'|S,A)
Observation Updates: P(S|O) = P(S)P(O|S)/P(O)
Sensor Model
- P(Sensor Output | world state)
Rock type example