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Wikipedia:Featured picture candidates/Monte Carlo localization

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Voting period is over. Please don't add any new votes. Voting period ends on 13 Apr 2013 at 00:19:30 (UTC)

The algorithm initializes with a uniform distribution of particles. The robot considers itself equally likely to be at any point in space along the corridor.
Sensor update: the robot detects a door. It assigns a weight to each of the particles. The particles which are likely to give this sensor reading receive a higher weight.
Resampling: the robot generates a set of new particles, with most of them generated around the previous particles with more weight. It now believes it is at one of the three doors.

Motion update: the robot moves some distance to the right. All particles also move to the right, and some noise is applied to simulate the real world.
Sensor update: the robot detects the absence of a door. It assigns a weight to each of the particles. The particles which are likely to give this sensor reading receive a higher weight.
Resampling: the robot generates a set of new particles, with most of them generated around the previous particles with more weight. It now believes it is at one of two doors.

Motion update: the robot moves some distance to the left. All particles also move to the left, and some noise is applied to simulate the real world.
Sensor update: the robot detects a door. It assigns a weight to each of the particles. The particles which are likely to give this sensor reading receive a higher weight.
Resampling: the robot generates a set of new particles, with most of them generated around the previous particles with more weight. The robot has successfully localized itself!
Reason
A set of high quality vector diagrams that clearly illustrate how Monte Carlo localization works. The nine pictures here depict three time steps of the algorithm for a very simple example where a robot is attempting to determine its position in a corridor with three identical doors.
Articles in which this image appears
Monte Carlo localization
FP category for this image
Wikipedia:Featured pictures/Diagrams, drawings, and maps/Diagrams
Creator
dllu

Not Promoted --Armbrust The Homunculus 20:21, 5 April 2013 (UTC)[reply]