likelihoodFieldSensor

Create a likelihood field range sensor model

Description

likelihoodFieldSensor creates a likelihood field sensor model object for range sensors. This object contains specific sensor model parameters. You can use this object to specify the model parameters in a monteCarloLocalization object.

Creation

Description

lf = likelihoodFieldSensor creates a likelihood field sensor model object for range sensors.

Properties

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Occupancy grid representing the map, specified as a binaryOccupancyMap object. This object represents the environment of the vehicle as a grid with binary values indicating obstacles as true (1) and free locations as false (0).

Pose of the range sensor relative to the coordinate frame of the vehicle, specified as a three-element vector, [x y theta].

Minimum and maximum range of sensor, specified as a two-element vector in meters.

Number of beams used for likelihood computation, specified as a scalar. The computation efficiency can be improved by specifying a smaller number of beams than the actual number available from the sensor.

Standard deviation for measurement noise, specified as a scalar.

Weight for probability of random measurement, specified as a scalar. This scalar is the probability that the measurement is not accurate due to random interference.

Weight for probability of expected measurement, specified as a scalar. The weight is the probability of getting a correct range measurement within the noise limits specified in MeasurementNoise property.

Maximum distance to find nearest obstacles, specified as a scalar in meters.

Limitations

If you change your sensor model after using it with the monteCarloLocalization object, call release on that object beforehand. For example:

mcl = monteCarloLocalization(...); 
[isUpdated,pose,covariance] = mcl(...); 
release(mcl) 
mcl.SensorModel.PropName = value; 

Introduced in R2019b