function weight_new = kernel_density_estimation(X,particles,weight)

% clear all

% close all

% clc

% particles = [normrnd(-2,1,[1,100]),normrnd(2,1,[1,100])];

% weights = ones(1,200)/200;

% X = particles;

[a,b] = size(X);

if nargin<3

    weight = ones(1,b)/b;

end

weight_new = zeros(1,b);

for i = 1:b

    weight_new(i) = sum(mvnpdf(particles',X(:,i)',0.4*eye(a)).*weight');

end