oo Sampling from Motion Model o a common motion model Decompose motion into rotation translation rotation Rotation 卩=△1,02e=a△d+Q2△ Translation:p=△d,o2△d=a3△d+a4△1+△2) Rotation: =△91022=a△d+a2△2 o Compute rotation translation rotation from odometry o For each particle, sample a new motion triplet by from gaussians described above o Use geometry to generate posterior particle positionSampling from Motion Model | A common motion model: • Decompose motion into rotation, translation, rotation • Rotation: µ = ∆θ1, σ2 ∆θ1 = α1∆d+ α 2∆θ1 • Translation: µ = ∆d, σ 2 = α 3 ∆d+ α 4(∆θ1+ ∆θ 2) ∆d • Rotation: µ = ∆θ1,σ2 ∆θ 2 = α1∆d+ α 2∆θ2 | Compute rotation, translation, rotation from odometry | For each particle, sample a new motion triplet by from Gaussians described above | Use geometry to generate posterior particle position