Robot Localization using Extended Kalman Filtering with landmarks

Prerequesites

Libraries

• SDL2: Install using $apt install libsdl2-dev

• Eigen: Eigen is a header-only library, i.e. no need to install/compile any code separately. Get it here.

Build system

We use cmake as the build system for this project. If you do not have it installed on your system, do so using $apt install cmake

Go into the project installation directory and create a build directory:

$mkdir build

Then, cd into the directory and run cmake on the parent directory and build the project:

cd build && cmake .. && make

How it works

The Extended Kalman Filter is the nonlinear extension of the standard Kalman Filter

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TODO

style

• Add tests!!
• more README.md

bugs

• covariance explodes