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Updated with low-variance resampling #1

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Updated with low-variance resampling #1

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30 changes: 29 additions & 1 deletion Localization/Particle filter/particle_filter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,34 @@ def resample_particles(self, weights):

self.particles = resampled_particles

def low_variance_resample(self, weights):
"""Low variance resampling method."""
weights = np.array(weights)
weights_sum = np.sum(weights)

if weights_sum == 0:
print("All weights are zero! Check measurement model.")
weights = np.ones(self.num_particles) / self.num_particles
else:
weights /= weights_sum

num_particles = self.num_particles
resampled_particles = []

r = np.random.uniform(0, 1/num_particles)
cumulative_sum = 0.0
index = 0
c = weights[0]

for i in range(num_particles):
U = r + i / num_particles
while U > c:
index += 1
c += weights[index]
resampled_particles.append(self.particles[index])

self.particles = resampled_particles


def update(self, measurement):
"""
Expand Down Expand Up @@ -232,4 +260,4 @@ def main():
pf.e_plot_particles()

if __name__=="__main__":
main()
main()