IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP
Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM
Localization using poles and signs detected by LiDAR and GNSS in urban environment
This repo is for 4 sensor fusion projects that use real-world data from images, lidar, and radar.
This repository is part of Udacity's Sensor Fusion Nanodegree, where the goal is to track an object using a combination of Lidar and camera data. By fusing different sensor modalities, the system improves detection reliability and precision using KF, EKF, and UKF techniques.
Trajectory path estimation using Python, cpp and UKF
Interactive Autonomous Navigation Research Lab for UGVs featuring localization, path planning, DWA, MPC, Adaptive MPC, reinforcement learning hooks, safety supervision, live visualization, benchmarking, replay, and automated report generation.
In this project we proposed a tracking control strategy for a tracked mobile robot under longitudinal slip condition. The proposed control strategy is based on the dynamic model of the tracked robot, in which the longitudinal slip of the left and right tracks are described by two unknown parameters.
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