oo Robot Localization using SIR Sample x' from(x, y, 8) Iterate oI-n-model according to action af, to get proposal distribution mportance 3)Resample i epentRobot Localization using SIR i I. Sample {x t} from (x, y, θ) II. Iterate: 1) Sample from motion model according to action a Prediction t, to get proposal distribution q(x) 2) Add importance weights 3) Resample Measurement