diff --git a/occupancy_grids.py b/occupancy_grids.py
index 32504ed..bb26a7b 100644
--- a/occupancy_grids.py
+++ b/occupancy_grids.py
@@ -1,3 +1,22 @@
-def yea (awesomeness):
-    jeg_er = awesomeness
-    return jeg_er
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+from matplotlib.backend_bases import NonGuiException
+import matplotlib.pyplot as plt
+import numpy as np
+from numpy.random import uniform 
+
+
+def Binary_Baye_Filter (I, zt, x):
+    It = I + log()/log()
+    return jeg_er
+
+def invserse_sensor_model(m, x, z):
+    noget = noget
+    return noget
+
+
+def update(particles, weights, z, R, landmarks):
+    for i, landmark in enumerate(landmarks):
+        distance = np.linalg.norm(particles[:, 0:2] - landmark, axis=1)
+        weights *= np.scipy.stats.norm(distance, R).pdf(z[i])
+
+    weights += 1.e-300      # avoid round-off to zero
+    weights /= sum(weights) # normalize
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