I wrote my thesis on mathematical filters for robot localization. A true great has passed. =/ If folks are interested, here's some ancient (and likely awful)

I wrote my thesis on mathematical filters for robot localization. A true great has passed. =/ If folks are interested, here's some ancient (and likely awful) code I wrote for it. It has a MH set, a Fuzzy set, a PF and a SPKF as well: https://github.com/Qworg/Robot-Sensor-Fusion https://github.com/Qworg/Robot-Sensor-Fusion