CSCE 452/752: Homework 15

[a] Explain the tradeoff that occurs from the choice of cell size in the histogram filter for probabilistic localization. (5 points)

If the cell size is too small, the computation time will be very high.

If the cell size is too large, the accuracy will be poor.

[b] In the histogram filter method for probabilistic localization, does resampling occur? Explain why or why not. (5 points)

Resampling does not occur in the histogram filter method. The concept doesn't make sense, because histogram filters are not based on samples. Instead, the probabilities are computed directly.