Room 1

OMG! Luckily, you realize that there are 5 glow in the dark stars in the room, which will serve as your LANDMARKS. The landmark location format will be in (x, y, h) where x and y is the x and y coordinate in your frame, and h is the heading in radians.

Being the smart 3630 student you know you are (and overall solid friend), you decide to throw your friends (AKA particles) across the room, so they now all have different measurements of the landmarks. You will use each particle location as the predicted measurement, and your location as the actual measurement, and match the observations in order to determine your location!

To the left is an image that helps to visualize the matching process (and also below is a majestic slow-mo of your friends being strewn across the room).

Now, we match!

Let's use Manhattan distance!

Hint: You do not take heading into account in Manhattan distance.

We are only going to examine the measurements of one particle (Susan!) in the next couple of rooms.

Predicted Measurement: Landmark Locations

These are the locations of the glow in the dark stars in Susan's point of view.

Landmark 1: (0, 5, 2.33)
Landmark 2: (3, 2, 6.12)
Landmark 3: (2, 2, 3.56)
Landmark 4: (5, 0, 2.22)
Landmark 5: (5, 5, 1.23)

Actual Measurement: Landmark Locations

These are the locations of the glow in the dark stars in your point of view.

Landmark 1: (6, 0, 3.22)
Landmark 2: (3, 4, 4.32)
Landmark 3: (5, 6, 0.23)
Landmark 4: (1, 6, 5.13)
Landmark 5: (1, 3, 2.56)

Now, let's do some matching. Fill out the form below to move on to the next room.

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