Monte Carlo localization

2012-10-08

A Javascript demo about a two-dimensional mobile robot attempting to localize itself using Monte Carlo localization using a noisy laser rangefinder.

Demo

Screenshot
FIGURE 1 Screenshot of the demo with the robot in the middle shooting some laser beams at the bluish-grey obstacles.

The environment is randomly generated using metaballs. The likelihood field is obtained by running a Sobel filter on the environment, blurred.