AMCL Probabilistic Likelihood Field
I am interested in trying out the probabilistic Likelihood field observation model in amcl because if its beam_skip feature. However, there is no documentation in the AMCL ROS Wiki about the beam skip parameters. I know about them because I was digging through the amcl source code. The paramters are:
do_beamskip
beam_skip_distance
beam_skip_threshold
beam_skip_error_threshold
It would be great if someone could shed some light on what those parameters mean. I also wanted to understand the difference between the standard likelihood field which I understand by reading Thrun's book and the probabilistic likelihood field that can be used in amcl.
My motivation behind this is to try and improve amcl localization when the map changes significantly due to new obstacles. Ideally I would like amcl to remove all beams that don't match the static map prior to evaluating p(z|m)
