/Police-Car-Chase-with-Extended-Kalman-Filter

Police Car Chase with Extended Kalman Filter

Problem Statement

Abstract

Plan of Action

  1. Overview
  2. Process Model
  3. Prediction Step
  4. Measurement
  5. Update Step
  6. The Chase

1. Overview

Linear Kalman Filter Extended Kalman Filter
Process model: Linear Kalman Filter Extended Kalman Filter
Measurement: Measurement 1 Measurement 2
True State: Image 1
Estimated State: Image 2
Estimation Error: Image 3
a priori State: Image 1
a posteriori State: Image 2
a priori Covariance: Image 1
a posteriori Covariance: Image 2

2. Process Model

Linear Kalman Filter Extended Kalman Filter
2D Linear Constant Velocity Model 2D Non-Linear Constant Velocity Model
Image 1 Image 1
Image 5 Image 6

3. Prediction Step

References

  1. https://courses.cs.washington.edu/courses/cse571/23sp/
  2. https://codingcorner.org/extended-kalman-filter-explained/
  3. https://www.youtube.com/watch?v=DE6Jn2cB4J4&t=2048s
  4. https://medium.com/towards-data-science/extended-kalman-filter-43e52b16757d
  5. https://zlthinker.github.io/extended_kalman_filter
  6. https://www.alanzucconi.com/2022/07/24/extended-kalman-filter/
  7. https://github.com/balzer82/Kalman
  8. https://automaticaddison.com/extended-kalman-filter-ekf-with-python-code-example/
  9. https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python/blob/master/11-Extended-Kalman-Filters.ipynb