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## [Playerstage-users] Re: Re: AMCL position difference

 [Playerstage-users] Re: Re: AMCL position difference From: DDP - 2005-07-25 18:52:12 Attachments: Message as HTML ``` > It looks like the estimated pose is displaced by about half the > height of your map. Where are you getting the "true" pose for this > plot.? Keep in mind that amcl uses the *center* of the map as (0,0), > not a corner. Also, amcl uses a right-handed coordinate system, in > which Y increases up (as opposed to a graphics coordinate system, in > which Y increases down). Hi. It's not a problem with the map coordinates, because if the position covariance at the beginning is very low, the real position is found very fast and both plots are the same then. I also think that the displacement has nothing to do with the size of the map, because the displacement differs. In value, and direction (sometimes only in X or Y direction or in both directions). It seems like the algorithm is only adding the odemetry data to the hypothese if the weight of the hypothese is 1.0 . Otherwise the algorithm should recognize his wrong estimated pose (at the latest if it's going through walls). Karsten ```

 [Playerstage-users] Re: Re: AMCL position difference From: DDP - 2005-07-25 18:52:12 Attachments: Message as HTML ``` > It looks like the estimated pose is displaced by about half the > height of your map. Where are you getting the "true" pose for this > plot.? Keep in mind that amcl uses the *center* of the map as (0,0), > not a corner. Also, amcl uses a right-handed coordinate system, in > which Y increases up (as opposed to a graphics coordinate system, in > which Y increases down). Hi. It's not a problem with the map coordinates, because if the position covariance at the beginning is very low, the real position is found very fast and both plots are the same then. I also think that the displacement has nothing to do with the size of the map, because the displacement differs. In value, and direction (sometimes only in X or Y direction or in both directions). It seems like the algorithm is only adding the odemetry data to the hypothese if the weight of the hypothese is 1.0 . Otherwise the algorithm should recognize his wrong estimated pose (at the latest if it's going through walls). Karsten ```