What wrong noise values do
Three Kalman filters on one run of wall_kf.py: the same odometry, the same LiDAR scans. Only one noise value differs.
Mistune
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Python starts when the lecture gets close to this slide.
An honest filter keeps the truth inside its own ±2σ band about 95% of the time; far less means a noise value is too small.
The values in wall_kf.py come from measurement: r from the LiDAR's spread at a fixed distance, q from the odometry scatter per meter driven.
Python not started yet.
EECE 5550 Mobile Robotics
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The Python behind the demo
noise_driver.py imports wall_kf.py as it is and runs three of its Filter objects on one Sim.
The same comparison as text, exactly as on your Mac:
$ python3 noise_driver.py
The filter it runs three times, from wall_kf.py:
EECE 5550 Mobile Robotics
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