{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Title"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "ename": "FileNotFoundError",
     "evalue": "[Errno 2] No such file or directory: 'hoge.png'",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mFileNotFoundError\u001b[0m                         Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-1-d7c1437408c4>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mIPython\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdisplay\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mImage\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 2\u001b[0;31m \u001b[0mImage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfilename\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m\"hoge.png\"\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mwidth\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;36m600\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;32m~/.pyenv/versions/anaconda3-4.4.0/lib/python3.6/site-packages/IPython/core/display.py\u001b[0m in \u001b[0;36m__init__\u001b[0;34m(self, data, url, filename, format, embed, width, height, retina, unconfined, metadata)\u001b[0m\n\u001b[1;32m   1149\u001b[0m         \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0munconfined\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0munconfined\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   1150\u001b[0m         super(Image, self).__init__(data=data, url=url, filename=filename, \n\u001b[0;32m-> 1151\u001b[0;31m                 metadata=metadata)\n\u001b[0m\u001b[1;32m   1152\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   1153\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mwidth\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mNone\u001b[0m \u001b[0;32mand\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmetadata\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'width'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m{\u001b[0m\u001b[0;34m}\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m~/.pyenv/versions/anaconda3-4.4.0/lib/python3.6/site-packages/IPython/core/display.py\u001b[0m in \u001b[0;36m__init__\u001b[0;34m(self, data, url, filename, metadata)\u001b[0m\n\u001b[1;32m    607\u001b[0m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmetadata\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;34m{\u001b[0m\u001b[0;34m}\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    608\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 609\u001b[0;31m         \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mreload\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    610\u001b[0m         \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_check_data\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    611\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m~/.pyenv/versions/anaconda3-4.4.0/lib/python3.6/site-packages/IPython/core/display.py\u001b[0m in \u001b[0;36mreload\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m   1180\u001b[0m         \u001b[0;34m\"\"\"Reload the raw data from file or URL.\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   1181\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0membed\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 1182\u001b[0;31m             \u001b[0msuper\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mImage\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mreload\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m   1183\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mretina\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   1184\u001b[0m                 \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_retina_shape\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m~/.pyenv/versions/anaconda3-4.4.0/lib/python3.6/site-packages/IPython/core/display.py\u001b[0m in \u001b[0;36mreload\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    632\u001b[0m         \u001b[0;34m\"\"\"Reload the raw data from file or URL.\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    633\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfilename\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 634\u001b[0;31m             \u001b[0;32mwith\u001b[0m \u001b[0mopen\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfilename\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_read_flags\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mas\u001b[0m \u001b[0mf\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    635\u001b[0m                 \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdata\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mf\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    636\u001b[0m         \u001b[0;32melif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0murl\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mFileNotFoundError\u001b[0m: [Errno 2] No such file or directory: 'hoge.png'"
     ]
    }
   ],
   "source": [
    "from IPython.display import Image\n",
    "Image(filename=\"hoge.png\",width=600)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "![gif](https://github.com/AtsushiSakai/PythonRobotics/raw/master/Localization/extended_kalman_filter/animation.gif)\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Section1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Section2\n",
    "\n",
    "$\\begin{equation*}\n",
    "F=\n",
    "\\begin{bmatrix}\n",
    "1 & 0 & 0 & 0\\\\\n",
    "0 & 1 & 0 & 0\\\\\n",
    "0 & 0 & 1 & 0 \\\\\n",
    "0 & 0 & 0 & 0 \\\\\n",
    "\\end{bmatrix}\n",
    "\\end{equation*}$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Ref"
   ]
  }
 ],
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