03. Localization Posterior: Introduction

Formal Definition of Variables

$z_{1:t}$ represents the observation vector from time 0 to t (range measurements, bearing, images, etc.).

$u_{1:t}$ represents the control vector from time 0 to t (yaw/pitch/roll rates and velocities).

$m$ represents the map (grid maps, feature maps, landmarks)

$x_t$ represents the pose (position (x,y) + orientation $\theta$ )

Quiz

Given the map, the control elements of the car, and the observations, what is the definition of the posterior distribution for the state x at time t?

(A)

(B)

(C)

(D)

Given the map, the control elements of the car, and the observations, what is the definition of the posterior distribution for the state x at time t?

(A)

(B)

(C)

(D)

SOLUTION:

(D)