Particle Filter demo

Use the RayLib to Demo this algorithm

• Set Up the Development Environment
• Add a Constant Position Target
• Add two Landmark
• Calculate the Distance Between a Landmark and a Target
  • Draw the line
  • Draw the Distance Value
  • Simple Distance
• Integrate ImGui to Control These Positions
• Add Mouse Position Tracking
  • Target
  • Landmark
• Add Distance Random Noise
• Caluate the Simulation Result
• Particle Filter Algorithm
  • add test conditional
• Add More tune parameter panel
  • Display move speed & direction (FPS is sample rate)
  • Tune move speed & direction standard deviation
  • Tune Predict sigma
• Add more landmark to demo Particle Filter

Prerequirement

• vscode : press F5 to download lib and build
• vscode extension : vscode-catch2-test-adapter

Run C Code

1. git pull
2. cd build
3. ./premake5 or ./premake5.exe or premake5.osx
4. cd ..
5. make
6. ./bin/Debug/Particle-Filter-Demo

C(Raylib) Result

Matlab_code SOP

1. initial.m
2. partical_filter.m

Matlab Result

Cite

reference:http://ros-developer.com/2019/04/10/parcticle-filter-explained-with-python-code-from-scratch/