Implementation based on Probabilstic Robotics by Thrun et. al.
C++ C CMake
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
src
CMakeLists.txt
EKF_localization_known_correspondences.project
EKF_localization_known_correspondences.workspace
LICENSE
README.md

README.md

###Introduction

This is an implementation of the EKF localizationn with known correspondences from the book Probabilistic Robotics by Thrun et. al. I wrote this code to help me understand the material better. So others may find it useful as well.

The simulation consists of a robot with a range sensor that can detect known landmarks in the world. You move the robot around using the arrow keys.

One addition I made was handle the case when angular velocity is zero. The original algorithm found in the book would result in a divide by zero.

ekf_localization

###Requirements This demo code requires the following libraries

  • SDL2
  • Eigen

I've only tested this on a Linux machine but it should work on Mac and Windows because both libraries are cross platform.

###Compiling

mkdir build
cd build
cmake ..
make

###Customization All the parameters for the simulation can be found in config.h