You matched your measurements with Particle 1's (Susan's) measurements. That is so cool.

Now, we will re-weight the particles. It will be even cooler!

Predicted Measurement: Landmark Locations Refresher

• 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 Refresher

• 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)

FORMULA REMINDER:

e^(-((d^2)/(2*STAR_TRANS_SIGMA^2) + (h^2)/(2*STAR_ROT_SIGMA^2)))

Derivation

Now, let's do some calculations. Remember: d is the Manhattan distance, and h is the heading difference.

Use the below values in the formula.

STAR_TRANS_SIGMA = 0.5

STAR_ROT_SIGMA = 0.3