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<H1>Particle filter example</H1>
<P><A
href="http://www.s3.kth.se/~pauls/optfilt/Particle_filtering_Paul_Sundvall.ppt"
target=_blank>Here is a presentation</A> (powerpoint, 378 kb) on particle
filtering which I made during the Optimal filtering course. The presentation is
very coarse, but it gives you the general idea.</P>
<P>An example with a system is given in the presentation. It is a boat traveling
on a one-dimensional sea. The state equations are given in the
presentation above.</P>
<P><A href="http://www.s3.kth.se/~pauls/optfilt/boatdemo.m">boatdemo.m</A> (the
main program)</P>
<P><A href="http://www.s3.kth.se/~pauls/optfilt/rsmp.m">rsmp.m</A> (for
resampling, also needed)</P>
<P><A href="http://www.s3.kth.se/~pauls/optfilt/histweight.m">histweight.m</A>
(for plotting)</P>
<P>Given a perfect sea-chart and noisy depth measurements, estimate the
position!</P>
<P>Here is an animation (for you who do not have matlab)</P>
<P><A href="http://www.s3.kth.se/~pauls/optfilt/boatdemo.avi">Avi format,</A>
3.5 MB</P>
<P><A href="http://www.s3.kth.se/~pauls/optfilt/boatdemo.avi"><IMG height=343
src="particle_filter.files/boatdemo.png" width=681 border=0></A></P>
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