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Implementation of sensor fusion using Kalman Filters for localization of autonomous vehicles.

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raghuramshankar/kalman-filter-localization

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Linear Kalman Filter with Constant Acceleration Motion Model:

kf-ca-linear.gif

Extended Kalman Filter:

ekf-ctrv-linear.gif

Cubature Kalman Filter:

ckf-ctrv-linear.gif

References:

Requirements

  • Python 3.6 or newer
  • Numpy, Scipy, Matplotlib, Sympy, Pandas for Python
  • MATLAB r2019b or newer
  • ROS Toolbox for MATLAB
  • Any OS that supports MATLAB and Python

Usage

License

MIT License