CS 7638 Exam Ques ons and answers Updated New!!
2025/2026 updated new!
explain localiza on (histogram filter)
Localiza on assumes that the map of the environment is already known. You then use
measurements and movements to build a belief of where the robot is in the environment.
What is the limit distribu on of a robot? (infinite movements but no measurements)
The result will be a uniform distribu on. So the more we more, the more informa on we will
lose about the environment and our loca on.
What is the formula for entropy?
-SUM(P(Xi) log(P(Xi))
In Histogram Filter, how is the Sense/measurement func on calculated?
Using Products (mul plica on) followed by normaliza on. (Using baye's theorem)
In Histogram Filter,, how is the Move/mo on func on calculated?
Using convolu on (addi on). (using total probability). The opera on of a weighted sum is called
a convolu on.
How does the memory scale wrt. the number of state variables in a Localiza on method?
(linearly? Quadra cally? exponen ally)
Exponen ally. If each variable had 20 possible values (bins) then the joint probability table will
be 20^n where n is the number state dimensions.
What is the number of one issue with localiza on grid (histogram) method?
The memory alloca on is exponen al.
What is standford's first self driving car called?
Junior - uses lasers and radar
What is Kalman filter used for?
Tracking & localiza on of the robot. It helps track the movement of other objects in our
environment so we don't collide with them.
, Is Kalman Filter discrete or con nious?
con nious
Is Kalman filter uni-modal or mul -modal?
uni-modal (using Gaussians)
Is Monte Carlo Localiza on discrete or con nuous?
discrete
Is Monte Carlo Localiza on Uni-modal or Mul -modal? In (Histogram Filter)
Mul -modal
Are par cle filters discrete or con nious?
Con nious
Are par cle filters uni-modal or mul -modal?
mul -modal
Explain a gaussian
A gaussian is a normal distribu on (uni-modal) where the area underneath sums up to 1.
In Kalman filters, how is measurement update calculated?
Using Baye's rule (products)
In Kalman Filters, how is the predic on step (mo on) calculated?
Using Total probability (convolu on / addi on)
Learn how to populate the F filter. What is it for?
Learn how to populate the H filter. What is it for?
In regards to Histogram Filters, when it comes to scaling in the number of dimensions of the
state space, which of the following is the amount of storage that must be assigned?
Exponen al
In regards to Kalman Filters, when it comes to scaling in the number of dimensions of the state
space, which of the following is the amount of storage that must be assigned?
Quadra c
When applied to robots, do you believe the Histogram Filter is exact or approximate?
2025/2026 updated new!
explain localiza on (histogram filter)
Localiza on assumes that the map of the environment is already known. You then use
measurements and movements to build a belief of where the robot is in the environment.
What is the limit distribu on of a robot? (infinite movements but no measurements)
The result will be a uniform distribu on. So the more we more, the more informa on we will
lose about the environment and our loca on.
What is the formula for entropy?
-SUM(P(Xi) log(P(Xi))
In Histogram Filter, how is the Sense/measurement func on calculated?
Using Products (mul plica on) followed by normaliza on. (Using baye's theorem)
In Histogram Filter,, how is the Move/mo on func on calculated?
Using convolu on (addi on). (using total probability). The opera on of a weighted sum is called
a convolu on.
How does the memory scale wrt. the number of state variables in a Localiza on method?
(linearly? Quadra cally? exponen ally)
Exponen ally. If each variable had 20 possible values (bins) then the joint probability table will
be 20^n where n is the number state dimensions.
What is the number of one issue with localiza on grid (histogram) method?
The memory alloca on is exponen al.
What is standford's first self driving car called?
Junior - uses lasers and radar
What is Kalman filter used for?
Tracking & localiza on of the robot. It helps track the movement of other objects in our
environment so we don't collide with them.
, Is Kalman Filter discrete or con nious?
con nious
Is Kalman filter uni-modal or mul -modal?
uni-modal (using Gaussians)
Is Monte Carlo Localiza on discrete or con nuous?
discrete
Is Monte Carlo Localiza on Uni-modal or Mul -modal? In (Histogram Filter)
Mul -modal
Are par cle filters discrete or con nious?
Con nious
Are par cle filters uni-modal or mul -modal?
mul -modal
Explain a gaussian
A gaussian is a normal distribu on (uni-modal) where the area underneath sums up to 1.
In Kalman filters, how is measurement update calculated?
Using Baye's rule (products)
In Kalman Filters, how is the predic on step (mo on) calculated?
Using Total probability (convolu on / addi on)
Learn how to populate the F filter. What is it for?
Learn how to populate the H filter. What is it for?
In regards to Histogram Filters, when it comes to scaling in the number of dimensions of the
state space, which of the following is the amount of storage that must be assigned?
Exponen al
In regards to Kalman Filters, when it comes to scaling in the number of dimensions of the state
space, which of the following is the amount of storage that must be assigned?
Quadra c
When applied to robots, do you believe the Histogram Filter is exact or approximate?
