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Speed and position estimation with Kalman filter (CS-373 unit 2) with real robot. As a robotics platform this example uses hardware and software we are developing for our Veter-project: http://veterobot.com . Corresponding sourcs are available here: https://github.com/andreynech/udacity-cs373 In this example, we estimate our own position and speed based on the rear sonar measurement (distance to the wall). In the Unit 2, several examples are mentioned where Kalman filter was applied to estimate the speed and position of the *other* vehicles. We simplify our test case by estimating our own position relative to the well known marker - the wall. If you are not happy with this simplification, then you can always assume, that we conduct this experiment in the coordinate system which is collocated with the vehicle. In this case, the wall was moving and we were estimating the speed and position of the wall relative to our vehicle :-) . The one second pause between movements is made intentionally to highlight the moments where the measurements were taken. In fact, it is very easy to modify the source code by commenting out corresponding sleep call to achieve "smooth" movement. The video of the experiment could be seen on YouTube: http://youtu.be/VndTFfvtOaM