EM-method-for-Laser-beam-model

Implementation "learn intrinsic parameter" pseudocode in Probabilistic robotics (Chapter 6.3.2)

This is an assignment for PROBABILISTIC ROBOTICS 2 (EEE7761) in Yonsei Univ.
sensor_data.py is provided by Prof. Euntai Kim.

Pseudocode

Requirement

• numpy
• matplotlib

How to run

1. python sensor_data.py : Generate laser beam data randomly and save in .npz format.
2. python EM_method.py : Load sensors.npz to calculate the intrinsic parameter in the beam-based sensor model.

Result