Approx. real-time positions for all of Auckland!
What's wrong with the current system?
Currently, it works like this …
ETAs for a person waiting at the 7:40 stop:
$ X_k = \begin{bmatrix} d_k \\ v_k \end{bmatrix} $ $ = f(X_{k-1}) $
$ Y_k $ $ = \begin{bmatrix} \phi_k \\ \lambda_k \end{bmatrix} $ $ = h(X_k) $
$ Y_k | X_k^{(i)}, \Sigma \sim \mathrm{Binormal}(h(X_k^{(i)}), \Sigma) $
$ w_i = \frac{\ell(X_k^{(i)} | Y_k, \Sigma)}{\sum_j \ell(X_k^{(j)} | Y_k, \Sigma)} $
All we need to do is …
Questions?