Different types of KF

[abhigoku10]

@cclauss @xinshuoweng hello thanks for the source code , can we replace KF for kitti dataset with extended kalman filter or unscented kalman filter in the existing source code , if so what all are the additional inputs required for the extended kalman filter

[xinshuoweng]

Theoretically, yes you can. But I am not super sure what else you will need as I have not tried it yet. Hopefully, there are other guys also working on this in this repo. You guys can discuss. I will leave this thread open here.

[abhigoku10]

@xinshuoweng i was looking into the implementation of EKF in other repo but they take into consideration of both lidar and radar input for the Jacobian matrix , in KF the H matrix in your code is of dimsx=10/11 dimsz=7 what does this signify

[xinshuoweng]

For the state vector with a length of 10, you have (x, y, z, l, w, h, theta, x', y', z')
for the measurement vector with a length of 7, you have (x, y, z, l, w, h, theta)