Geoffrey: An Automated Schedule System on a Social Robot for the Intellectually Challenged

Figure 17

Adaptive Monte Carlo localization running. Every arrow represents a particle with an estimated 2D pose of the robot. (a) High uncertainty so there are multiple plausible poses of the robot (depicted as a big cloud of red arrows around the robot). (b) The robot saw a feature that helped to reduce the uncertainty, so the plausible poses are significantly reduced (shown as small clusters of red arrows around the robot).

(a)

(b)