Need help understand weight update for particle filter localization

Hi all,

Okay, we all know the equation for weight update is this: Wst=p(Zt|St).

But I have been looking at this equation for a while now. Although I have advanced degrees in EE, still been struggling to grasp this step in the pf algorithm (prediction and resampling seem pretty straightforward). Would someone here care to give an example to provide some insight? Perhaps start with a set of observations and a given map in 2D, at time t.

Does anyone know a good open-source repo to show the implementation in C++ or Python?

Thanks all!

submitted by /u/cpeng3
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