In updateWeights() function, the inner most for loop is not calculating the product for the likelihood. Should line 153 of particle_filter.cpp be replaced with new_weight *= numerator / denominator;?
Doing so greatly improves the error rates but I'm slightly confused as to what the rest of the loop is calculating.
In updateWeights() function, the inner most for loop is not calculating the product for the likelihood. Should line 153 of particle_filter.cpp be replaced with
new_weight *= numerator / denominator;?Doing so greatly improves the error rates but I'm slightly confused as to what the rest of the loop is calculating.