showNoiseDistribution

Display noise parameter effects

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Syntax

showNoiseDistribution(ommObj)
showNoiseDistribution(ommObj)
showNoiseDistribution(ommObj,Name,Value)

Description

showNoiseDistribution(ommObj) shows the noise distribution for a default odometry pose update, number of samples and the current noise parameters on the input object.

example

axes = showNoiseDistribution(ommObj) shows the noise distribution and returns the axes handle.

showNoiseDistribution(ommObj,Name,Value) provides additional options specified by one or more Name,Value pairs. Name is the property name and Value is the corresponding value. Name must appear inside single quotes (' '). You can specify several name-value pair arguments in any order as Name1,Value1,...,NameN,ValueN. Properties not specified retain their default values.

Examples

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Open Live Script

This example shows how to visualize the effect of different noise parameters on the odometryMotionModel class. An odometryMotionModel object contains the motion model noise parameters for a differential drive vehicle. Use showNoiseDistribution to visualize how changing these values affect the distribution of predicted poses.

Create a motion model object.

motionModel = odometryMotionModel;

Show the distribution of particles with the existing noise parameters. Each particle is a hypothesis for the predicted pose.

showNoiseDistribution(motionModel);

Figure Odometry Motion Model contains an axes object. The axes object with title Noise Parameters: [0.2 0.2 0.2 0.2], xlabel X [meters], ylabel Y [meters] contains 4 objects of type line. One or more of the lines displays its values using only markers These objects represent Robot initial pose, Robot final pose, Samples at final pose.

Show the distribution with a specified odometry pose change and number of samples. The change in odometry is used as the final pose with hypotheses distributed around based on the Noise parameters.

showNoiseDistribution(motionModel, ...
            'OdometryPoseChange', [0.5 0.1 0.25], ...
            'NumSamples', 1000);

Figure Odometry Motion Model contains an axes object. The axes object with title Noise Parameters: [0.2 0.2 0.2 0.2], xlabel X [meters], ylabel Y [meters] contains 4 objects of type line. One or more of the lines displays its values using only markers These objects represent Robot initial pose, Robot final pose, Samples at final pose.

Change the Noise parameters and visualize the effects. Use the same odometry pose change and number of samples.

 motionModel.Noise = [0.2 1 0.2 1];
 
 showNoiseDistribution(motionModel, ...
            'OdometryPoseChange', [0.5 0.1 0.25], ...
            'NumSamples', 1000);

Figure Odometry Motion Model contains an axes object. The axes object with title Noise Parameters: [0.2 1 0.2 1], xlabel X [meters], ylabel Y [meters] contains 4 objects of type line. One or more of the lines displays its values using only markers These objects represent Robot initial pose, Robot final pose, Samples at final pose.

Input Arguments

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odometryMotionModel object, specified as a handle. Create this object using odometryMotionModel.

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: 'OdometryPoseChange',[1 1 pi]

Change in odometry of the robot, specified as a comma-separated pair consisting of 'OdometryPoseChange' and a three-element vector, [x y theta].

Number of particles to display, specified as a comma-separated pair consisting of 'NumSamples' and a scalar.

Axes to plot the map, specified as a comma-separated pair consisting of 'Parent' and either an Axes or UIAxes object. See axes or uiaxes.

Version History

Introduced in R2019b

See Also

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