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Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink...
Transcript of Exercise 4: Line-based Extended Kalman Filter for Robot Localization · 2017-04-25 · Simulink...
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Timo Hinzmann, Lucas Teixeira
25.04.2017Timo Hinzmann 1
Autonomous Mobile Robots
Exercise 4: Line-based Extended Kalman Filter
for Robot Localization
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Kalman Filter
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State & Covariance Prediction/Propagation
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State & Covariance Prediction/Propagation
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State & Covariance Prediction/Propagation
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State & Covariance Prediction/Propagation
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State & Covariance Prediction/Propagation
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State Update: Measurement Function
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State Update: Measurement Function
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State Update: Measurement Function
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State Update: Measurement Association
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State Update
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Final EKF solution
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V-Rep Simulation