文件列表:

BPF2D (0, 2017-09-28)
BPF2D\BPF2D.m (2373, 2017-09-28)
BPF2D\findIndexes.m (1491, 2017-09-28)
BPF2D\initBoxesArray.m (1379, 2017-09-28)
BPF2D\measurementUpdate.m (2245, 2017-09-28)
BPF2D\stateUpdate.m (2633, 2017-09-28)
BPF2D_fixed (0, 2017-09-28)
BPF2D_fixed\BPF2D_fixed.m (2666, 2017-09-28)
BPF2D_fixed\findClosestCorner.m (1422, 2017-09-28)
BPF2D_fixed\findIndexes_fixed.m (1621, 2017-09-28)
BPF2D_fixed\initBoxes.m (729, 2017-09-28)
BPF2D_fixed\measurementUpdate_fixed.m (2331, 2017-09-28)
BPF2D_fixed\stateUpdate_fixed.m (2418, 2017-09-28)
BPF_ND (0, 2017-09-28)
BPF_ND\BPF.m (2545, 2017-09-28)
BPF_ND\findIndexes_ND.m (1675, 2017-09-28)
BPF_ND\initBoxesList.m (1838, 2017-09-28)
BPF_ND\measurementUpdate_ND.m (3324, 2017-09-28)
BPF_ND\stateUpdate_ND.m (2606, 2017-09-28)
ConventionalParticleFilter (0, 2017-09-28)
ConventionalParticleFilter\ConvPFilter2D.m (2518, 2017-09-28)
ConventionalParticleFilter\MainPFConventional.m (843, 2017-09-28)
ConventionalParticleFilter\initParticles.m (1168, 2017-09-28)
ConventionalParticleFilter\pf.m (723, 2017-09-28)
ConventionalParticleFilter\rsmp.m (153, 2017-09-28)
Interval (0, 2017-09-28)
Interval\Interval.m (14819, 2017-09-28)
Interval\cosInterval.m (440, 2017-09-28)
Interval\fillBoxGrid.m (401, 2017-09-28)
Interval\quickBoxAnd.m (205, 2017-09-28)
Main.m (4498, 2017-09-28)
Main_NDimensions.m (4949, 2017-09-28)
Main_helper_report.m (7455, 2017-09-28)
Misc (0, 2017-09-28)
Misc\plotBoxes.m (1412, 2017-09-28)
Misc\plotBoxesColor.m (2336, 2017-09-28)
Misc\plotDistance.m (1381, 2017-09-28)
SLAM (0, 2017-09-28)
... ...

# Box Particle Filter Matlab code for the Box Particle filtering project. Implementation of Interval class and simulation applications. ## Directories ### BPF_ND: 2D Box Particle Filter implementation. - **BPF.m**: N-dimenional Box Particle Filter simulation. - **measurementUpdate_ND.m**: Measurement update for N-dimensional box particle filtering. - **stateUpdate.m**: State Update for N-dimensional box particle filtering. - **initBoxesArray.m**: Initialise Box cell array. Used by stateUpdate function to perform resampling. - **findIndexes.m**: Find which boxes in a box array intersect a given input box. ### BPF2D: 2D Box Particle Filter implementation. - **BPF2D.m**: 2D Box Particle Filter simulation. - **measurementUpdate.m**: Measurement update for 2D box particle filtering. - **stateUpdate.m**: State Update for 2D box particle filtering. - **initBoxesArray.m**: Initialise Box cell array. Used by stateUpdate function to perform resampling. - **findIndexes.m**: Find which boxes in a box array intersect a given input box. > Obs.: the BPF2D function performs a full simulation. If something else must be done after each iteration, a loop calling the functions measurementUpdate and stateUpdate must be programmed manually (see BPF2D for the implemetation). ### BPF2D_fixed: 2D Box Particle Filter implementation for a fixed rectangular room [Not used anymore]. - **BPF2D_fixed.m**: 2D Box Particle Filter simulation. - **measurementUpdate_fixed.m**: Measurement update for 2D box particle filtering. - **stateUpdate_fixed.m**: State Update for 2D box particle filtering. - **initBoxesArray.m**: Initialise Box cell array. Used by stateUpdate function to perform resampling. - **findIndexes_fixed.m**: Find which boxes in a box array intersect a given input box. ### ConventionalParticleFilter: Conventional particle filter implementation. ### SLAM: Simple implementation of the SLAM algorithm using the BPF2D as estimator engine. ### Interval: Implementation of intervals. ### Mist: Plot helper functions. - **plotBoxes.m** - plot of each box in a box array - **plotBoxesColor.m** - plot of each box in a box array with colouring - representing each box's weight - **plotDistance.m** - plot of distance between each point in two vectors ### Simulations: Multiple example environments defined to test the SLAM algorithm and the Box Particle Filter implementations

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