1 files changed, 9 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/matlab/mcl.m b/SD-VBS/benchmarks/localization/src/matlab/mcl.m
new file mode 100644
index 0000000..8ab8aa6
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/matlab/mcl.m
@@ -0,0 +1,9 @@
+function [retX, retW]=mcl(x,sData, invCov)
+%instead of using importance resampling, I assumed 3D gaussian for each
+%particle
+%retX=x+randn(nr,nc)*(invCov^-1); %add noise
+retX=x;
+retW=get3DGaussianProb(retX, sData, invCov);
+retW=retW/sum(retW);
+
+