Flight Lab / Perception / 01
Lesson 01 of 05 · about 5 min
A histogram filter keeps a probability for each cell. A measurement multiplies every cell by how likely that measurement is there, then the cells are scaled so they sum to one. The cell with the largest product wins.
Three cells start equal. The sensor says "door". Cell 2 contains the door and has likelihood 0.8. Cells 1 and 3 have likelihood 0.1. Name the cell that holds the mass.