From 46aae73e64967c9e2400193237ff10d5ea7d57ee Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Sat, 27 Jan 2018 12:24:16 -0800
Subject: [PATCH] update README

---
 README.md | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/README.md b/README.md
index 799f1158..bf2731e8 100644
--- a/README.md
+++ b/README.md
@@ -5,11 +5,13 @@
 
 Python codes for robotics algorithm.
 
+
 # Table of Contents
    * [Requirements](#requirements)
    * [How to use](#how-to-use)
    * [Localization](#localization)
       * [Extended Kalman Filter localization](#extended-kalman-filter-localization)
+      * [Unscented Kalman Filter local](#unscented-kalman-filter-local)
    * [Path Planning](#path-planning)
       * [Dynamic Window Approach](#dynamic-window-approach)
       * [Grid based search](#grid-based-search)
@@ -90,6 +92,17 @@ the gren point is positioning observation (ex. GPS), and the red line is estimat
 
 The red ellipse is estimated covariance ellipse with EKF.
 
+## Unscented Kalman Filter local
+
+![2](https://github.com/AtsushiSakai/PythonRobotics/blob/master/Localization/unscented_kalman_filter/animation.gif)
+
+This is a sensor fusion localization with Unscented Kalman Filter(UKF).
+
+The lines and points are same meaning of the EKF simulation.
+
+Ref:
+
+- [Discriminatively Trained Unscented Kalman Filter for Mobile Robot Localization](http://search.ebscohost.com/login.aspx?direct=true&profile=ehost&scope=site&authtype=crawler&jrnl=17379318&AN=52739994&h=B0C6Ho6FxXnBPLmrwbtA0Vs7SjkGX1Wtd5thi9v8kcEuQDJsCm934YHgbgDQX%2BdsZKlKdXcPgOgzIDtjWltfHg%3D%3D&crl=f)
 
 # Path Planning
 
@@ -472,3 +485,4 @@ Atsushi Sakai ([@Atsushi_twi](https://twitter.com/Atsushi_twi))
 
 
 
+