raghuramshankar/kalman-filter-localization

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

Linear Kalman Filter with Constant Acceleration Motion Model:

Extended Kalman Filter:

Cubature Kalman Filter:

References:

• AMZ Driverless FSD Resources
• PythonRobotics
• Kalman by Balzer82
• Comparison and Evaluation of Advanced Motion Models for Vehicle Tracking

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

• Clone this repository

  git clone https://github.com/raghuramshankar/kalman-filter-localization.git

• Make sure you have Python installed

  Run install.bat to install required python libraries

• Make sure you have MATLAB installed with the ROS Toolbox
• Each MATLAB script file is a function which can be called with your main code
• Star this repo if you found it useful 😉

License

MIT License