Monte Carlo Localization (MCL)

Monte Carlo Localization from scratch in less than 200 lines of code. The code utilizes a probabilistic odometry motion model and a landmark sensor model, which models both the range and the bearing information. The entire code (including visualization) is available here.

Demo

Data

To run the code you must provide a path to the following two files:

1. World Description

Text file, with columns in the following order: landmark_id, landmark_x, landmark_y.

1 2 1
2 0 4
...

2. Sensor Data

Text file containing odometry and sensor measurements.

ODOMETRY 0.100068080139 0.100249642432 -0.000326992241362
SENSOR 1 2.08219220544 0.311724182123
SENSOR 2 4.01188450412 1.44126366316
ODOMETRY 0.100770135385 0.0999830371692 0.000283319078732
SENSOR 1 2.03292033382 0.309629930574
SENSOR 2 3.67779686283 1.3616405663
...

The odometry measurements have columns in the following order: ODOMETRY, delta_rot1, delta_trans, delta_rot2. The sensor measurements have columns in the following order: SENSOR, landmark_id, range, bearing.

References

1. IMR, Albert-Ludwigs-Universität Freiburg