Indoor Map - Compensation

Features:
a)  theta_adjustment to compensate magnetic field
b)  importance to the path away from walls
c) Removing the particles that hit the walls
d) Magnetic field based importance weights
Indoor Map -- Compensation

Features:
a) modified the red color transition cost function instead of the pixel
color detection used earlier
Indoor Map -- Compensation

Features:
a) Removing the unnecessary middle path particles importance weight.
b) Correct the transition cost functions mistakes
c) Optimum performance with these parameters +
sense noise = 4.0 uT , turn noise = 5.5 deg, step noise = 12 cm
Building the Full Application Now

a) AHRS Angle Algo
b) 1-axis or 3-axis magnetic field
c)  Indoor map based