[rediscovered] Gordon Wyeth: particle filter onboard the NXT

[HaWe]

Gordon Wyeth from the University of Queensland once implemented a 100 point particle filter onboard the NXT.
There was also a video showing a NXT equipped with 3 sonar sensors running several times in a square - but this video is missing and lost without trace since a long time to my observation.
Gordon Wyeth also provided lots of interesting details about his program on this related website.

Does anybody know a forgotten or concealed link?

[h-g-t]

Check out the waybackmachine website (http://web.archive.org/web/200910010000 ... wyeth/NXT/) a few hits for this subject, here is the first -

http://web.archive.org/web/200808040230 ... wyeth/NXT/

Lots of 'nxt particle filter' hits on youtube, don't know if any are the particular one you are seeking.

[HaWe]

Got it!!
http://web.archive.org/web/200808040230 ... wyeth/NXT/
This was exactly the website I've been looking for since a long time! The movies are provided in 4 links for download (Windows/Mac).

Thank you SO much!

[pepijndevos]

That is so amazing. I hope SLAM will be doable on 300Mhz

[HaWe]

what is "SLAM"?

[mightor]

http://en.wikipedia.org/wiki/Simultaneo ... nd_mapping

[HaWe]

ahh, thx.
Then why not, I got no doubt: Especially if the EV3 is running genuine ARM machine code then 300 MHz (e.g., generated by a MT-capable C compiler) will be more than satisfactory for sure, since both EKF and SMC Filter are already running on (comparatively very slow) byte code interpreters.

[mightor]

Doc, you had better start brushing up on your Linux programming skills then, you'll need it.
Suggested reading:

• Compiling stuff with gcc
• Debugging things with gdb
• Creating Makefiles
• How to set up a cross compiling environment

Btw, MT programming in Linux is not a piece of cake.

= Xander

[HaWe]

I'm not sure if the platform you mentioned would be the only or at least the best choice.
But I think at least all the NXC-programming >3000 members of the German mindstormsforum are waiting very excited for sort of embbeded C for EV3 featuring a simple and comfortable IDE. Of course a multiple of that in other countries all over the world.

And IIRC, John Hansen has promised to develop a native ARM C compiler environment for the BCC IDE!
(not found his post yet but will report then)

[HaWe]

ps.
got it, here it is!

http://sourceforge.net/apps/phpbb/mindb ... ler#p15813