Is kld_z in amcl parameters mapped with standard statistical z table?

asked 2016-10-17 03:59:24 -0500

Manish Saroya gravatar image

Hi, In AMCL.cfg file the kld_z parameter has a range from 0 to 1 and the default value of 0.99. According to the paper on KLD sampling pg. 15 the probability 1-delta (the error between the true posterior and the sample based approximation is less than kld_err) has value 0.99. This information shows that the kld_z is a probabilty.

In pf.c of amcl this kld_z probabilty parameter is directly feed in the function named pf_resample_limit() as variable pf->pop_z. while the Paper on KLD sampling on page 13 suggest that this kld_z probability should be mapped with standard statistical z table. But i cannot find any such mapping in the code.

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