[英]I am getting runtime warnings when trying to normalize and update weights
我正在尝试计算粒子过滤器中某些粒子的权重,然后相应地对这些权重进行归一化。 我的代码:
def update(particles, weights, landmark, sigma):
n = 0.0
for i in range(len(weights)):
distance = np.power((particles[i][0] - landmark[0]) ** 2 + (particles[i][1] -
landmark[1])**2, 0.5)
likelihood = exp(-(np.power(distance, 2))/2 * sigma ** 2)
weights[i] = weights[i] * likelihood
n += weights[i]
weights += 1.e-30
if n != 0:
weights = weights / n
但是,我收到错误:/Users/scottdayton/PycharmProjects/Uncertainty Research/particle.py:30: RuntimeWarning: 在 true_divide weights = weights = weights/n /Users/scottdayton/PycharmProjects/Uncertainty Research/particle.py:30 中遇到溢出: RuntimeWarning: true_divide weights = weights / n中遇到的无效值
正如评论中所说,我在您的代码中添加了括号,但可能还有另一件事。 我觉得您正在尝试将权重与可能性相乘,然后对结果进行归一化。 为此,您应该在 2 中切断循环:
我会这样写:
def update(particles, weights, landmark, sigma):
n = 0.0
# Correction of weights and computation of the sum
for i in range(len(weights)):
distance = np.power((particles[i][0] - landmark[0]) ** 2 + (particles[i][1] -
landmark[1])**2, 0.5)
likelihood = np.exp(-(np.power(distance, 2))/(2 * sigma ** 2))
weights[i] = weights[i] * likelihood + 1.e-30
n += weights[i]
# Normalization to sum up to one
for i in range(len(weights)):
weights[i] = weights[i] / n
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