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Quiz 1 in TTK4250 Flashcards | StudBud
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Quiz 1 in TTK4250
Quiz 1 in TTK4250
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1
We call a discrete-time noise process white if
All samples are independent
The increments between all samples are independent
It consists of Kalman filter estimates
All samples are jointly Gaussian
2
The ANEES of a filter looks like this together with its chi-square bounds. What can you say about the filter?
It is pessimistic.
It is consistent.
It is overconfident.
It is nonlinear.
3
Wich distribution does the sample mean converge to as the number of i.i.d. samples tends to infinity?
A uniform distribution
The Chi Square distribution
The Rayleigh distribution
The Gaussian distribution
4
How many hypotheses do we have in this multi-target scenario?
2
5
4
3
5
What is a pdf?
Any function whose integral is 1
The derivative of a cdf
The integral of a probability measure
Probabilities defined on a continuous space
6
What is a plausible covariance matrix for a SLAM problem?
a)
d)
b)
c)
7
In the SIR filter the particle weights are proportional to
The posterior
The inverse of the proposal density
The proposal density
The likelihood
8
What is the most correct description of what probability theory is about?
Assigning numbers to events
Guessing the value of an unknown quantity
Quantifying subjective beliefs
Expressing lack of knowledge
9
The random variable X has a uniform distribution over (-1,1). What is a possible realization of x?
The interval [-1,1]
The vector [1,1]'
The set of real numbers.
The number 0.5
10
When M models are being used, the IMM method uses how many Kalman filters?
M
M2
1
2M
11
If p(x)=N(x ; a,A) and y=Fx+b, then
p(y) = N(y ; Fb, FAF')
p(y) = N(y ; Fa, FAF')
p(y) = N(y ; Fa, FAF'+bb')
p(y) = N(y ; b+Fa, FAF')
