A particle filter for x, y coordinates without control input. The main file is src/particle_filter.c. Compile with make in folder src/ and run with make run. The visualization is done on-the-fly with gnuplot. The particle filter uses the following parameters:

• Prior: P(X₀) ~ N(0, mu=Inf) (uniformly distributed)
• Transition Model: P(X_t | x__t-1) ~ N(mu=x_t-1, sigma²), where sigma² is currently the process noise only (currently set to sigma² = 1600)
• Sensor Model: p(z_t | X_t) ~ N(mu=X_t, sigma²), sigma²_x= 21566, sigma²_y= 60369

• Red: Measurement (output from treXton)
• Green: Ground truth
• Blue: Particles (size represents their weight)
• Yellow: Best estimate from particle filter (weighted average)