Intelligent Agents Lab - Particle Filter implementation using Human Steering Model for human steering and obstacle behavior
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data
fajen goal
fajen obstacle
intel
mysql
results
stixbox
test
ttest
LSE.m
ParticleFilter.m
ParticleFilter_ex.m
README.md
SSEfajen_goal.m
SSEfajen_obst.m
anneal.m
aream.m
calcstats.m
calculate.m
closestpoint.m
curveintersect.m
datacollection.m
dg.m
do.m
equitimepath.m
fajen.m
findfirst.m
goalrecog.m
kstest10.m
kstestm.m
observer.m
occlusion.m
params.m
parkinglot.m
particle.m
particle_ex.m
particle_robot.m
psig.m
psio.m
regress.m
regressLSE.m
regressObstacle.m
report.m
scenario1.m
showlayout.m
showresults.m
sumsquare.m
table2latex.m
tableresult.m
twomin.m
uunique.m

README.md

IAL-ParticleFilter_HSM

Intelligent Agents Lab - Particle Filter implementation using Human Steering Model for human steering and obstacle behavior

The main files to run the code are below. These files are written for the paper Exploiting Human Steering Models for Path Prediction

  • particle.m (particle filter using HSM motion model)
  • particle_ex.m (similar to particle.m but the motion model is slightly improved)

The following files are part of the journal paper Leveraging Human Behavior Models to Predict Paths in Indoor Environments

  • particle_robot.m (works along with an iRobot simulator to return a path with detected obstacles from the robot's camera view)
  • intel/compare.m (uses real world sensor data and compares voronoi motion against HSM motion)