sensors as infused need to automatically predict for the optimal output generation
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
.gitignore
CMakeLists.txt
LICENSE
README.md
kalman-test.cpp
kalman.cpp
kalman.hpp

README.md

Kalman Filter

This is a basic Kalman filter implementation in C++ using the Eigen library. It implements the algorithm directly as found in [An Introduction to the Kalman Filter] (http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf).

This filter has been successfully used for the Iron Dome, a robotic system which detects and intercepts dynamically thrown projectiles in fractions of a second.

There is a test program that estimates the motion of a projectile based on noisy observations. To run it, use CMake:

cd kalman-cpp
mkdir build
cd build
cmake ..
make
./kalman-test

Note: You may have to specify the path to your Eigen library in CMakeLists.txt.