| dbo:abstract |
Monte Carlo localization (MCL), also known as particle filter localization, is an algorithm for robots to localize using a particle filter. Given a map of the environment, the algorithm estimates the position and orientation of a robot as it moves and senses the environment. The algorithm uses a particle filter to represent the distribution of likely states, with each particle representing a possible state, i.e., a hypothesis of where the robot is. The algorithm typically starts with a uniform random distribution of particles over the configuration space, meaning the robot has no information about where it is and assumes it is equally likely to be at any point in space. Whenever the robot moves, it shifts the particles to predict its new state after the movement. Whenever the robot senses something, the particles are resampled based on recursive Bayesian estimation, i.e., how well the actual sensed data correlate with the predicted state. Ultimately, the particles should converge towards the actual position of the robot. (en) |
| dbo:thumbnail |
wiki-commons:Special:FilePath/Corridorbot_door.png?width=300 |
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4093697 (xsd:integer) |
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18030 (xsd:nonNegativeInteger) |
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| dbo:wikiPageWikiLink |
dbr:Probability_distributions dbr:Multimodal_distribution dbr:Particle_filter dbc:Monte_Carlo_methods dbr:Unscented_Kalman_filter dbr:Configuration_space_(physics) dbr:Linear_time dbr:Periodic_boundary_conditions dbr:Markov_property dbr:Time-invariant_system dbr:Time_complexity dbr:Normal_distribution dbr:Histogram dbr:Kalman_filter dbr:Kidnapped_robot_problem dbr:Probability_density_function dbc:Robot_navigation dbr:Pose_(computer_vision) dbr:Kullback–Leibler_divergence dbr:Non-parametric_statistics dbr:Extended_Kalman_filter dbr:Robot_localization dbr:Recursive_Bayesian_estimation dbr:Boolean_value dbr:File:Mcl_t_0_1.svg dbr:File:Mcl_t_0_2.svg dbr:File:Mcl_t_0_3.svg dbr:File:Mcl_t_1_1.svg dbr:File:Mcl_t_1_2.svg dbr:File:Mcl_t_1_3.svg dbr:File:Mcl_t_2_1.svg dbr:File:Mcl_t_2_2.svg dbr:File:Mcl_t_2_3.svg dbr:File:Particle2dmotion.svg |
| dbp:alt |
Robot detects a door. (en) Robot detects a wall. (en) |
| dbp:footer |
A robot travels along a one-dimensional corridor, armed with a sensor that can only tell if there is a door or there is no door . (en) |
| dbp:image |
Corridorbot door.png (en) Corridorbot wall.png (en) |
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120 (xsd:integer) |
| dbp:wikiPageUsesTemplate |
dbt:Multiple_image dbt:Reflist |
| dct:subject |
dbc:Monte_Carlo_methods dbc:Robot_navigation |
| gold:hypernym |
dbr:Algorithm |
| rdf:type |
dbo:Software yago:WikicatMonteCarloMethods yago:Ability105616246 yago:Abstraction100002137 yago:Cognition100023271 yago:Know-how105616786 yago:Method105660268 yago:PsychologicalFeature100023100 |
| rdfs:comment |
Monte Carlo localization (MCL), also known as particle filter localization, is an algorithm for robots to localize using a particle filter. Given a map of the environment, the algorithm estimates the position and orientation of a robot as it moves and senses the environment. The algorithm uses a particle filter to represent the distribution of likely states, with each particle representing a possible state, i.e., a hypothesis of where the robot is. The algorithm typically starts with a uniform random distribution of particles over the configuration space, meaning the robot has no information about where it is and assumes it is equally likely to be at any point in space. Whenever the robot moves, it shifts the particles to predict its new state after the movement. Whenever the robot senses (en) |
| rdfs:label |
Monte Carlo localization (en) |
| owl:sameAs |
freebase:Monte Carlo localization yago-res:Monte Carlo localization wikidata:Monte Carlo localization dbpedia-mk:Monte Carlo localization https://global.dbpedia.org/id/4s64M |
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wikipedia-en:Monte_Carlo_localization?oldid=1121242553&ns=0 |
| foaf:depiction |
wiki-commons:Special:FilePath/Corridorbot_door.png wiki-commons:Special:FilePath/Corridorbot_wall.png wiki-commons:Special:FilePath/Mcl_t_0_1.svg wiki-commons:Special:FilePath/Mcl_t_0_2.svg wiki-commons:Special:FilePath/Mcl_t_0_3.svg wiki-commons:Special:FilePath/Mcl_t_1_1.svg wiki-commons:Special:FilePath/Mcl_t_1_2.svg wiki-commons:Special:FilePath/Mcl_t_1_3.svg wiki-commons:Special:FilePath/Mcl_t_2_1.svg wiki-commons:Special:FilePath/Mcl_t_2_2.svg wiki-commons:Special:FilePath/Mcl_t_2_3.svg wiki-commons:Special:FilePath/Particle2dmotion.svg |
| foaf:isPrimaryTopicOf |
wikipedia-en:Monte_Carlo_localization |
| is dbo:wikiPageDisambiguates of |
dbr:Monte_Carlo_(disambiguation) dbr:MCL |
| is dbo:wikiPageWikiLink of |
dbr:Robot_Operating_System dbr:Monte_Carlo_(disambiguation) dbr:Particle_filter dbr:Index_of_robotics_articles dbr:List_of_numerical_analysis_topics dbr:Monte_Carlo_method dbr:Frank_Dellaert dbr:2b2t dbr:Automated_guided_vehicle dbr:MCL dbr:Simultaneous_localization_and_mapping dbr:Wolfram_Burgard |
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wikipedia-en:Monte_Carlo_localization |
