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← 01ps-04 Localization Solution

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Showing Revision 1 created 08/27/2012 by Amara Bot.

  1. The answer is exponential.
  2. Suppose we resolve each variable at a granularity of 20 different values,
  3. so there's 20 different values for x and 20 for y and 20 for θ.
  4. Then the joint table over all of those will be 20^N
  5. where N is the number of state dimensions.
  6. That's an exponential expression.
  7. There is unfortunately no easy way around it.
  8. The biggest disadvantage of the grid-based localization method
  9. or the histogram method is that the scale of memory is exponential,
  10. which means it's not applicable to even problems with 6 dimensions,
  11. because you can't really allocate memory for 6 dimensions.