https://github.com/plusk01/turtlebot-eif-localization

Extended information filter localization of a TurtleBot using ArUco markers
https://github.com/plusk01/turtlebot-eif-localization

aruco-markers extended-kalman-filters information-filter localization matlab ros turtlebot

Last synced: 17 days ago
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Extended information filter localization of a TurtleBot using ArUco markers

• Host: GitHub
• URL: https://github.com/plusk01/turtlebot-eif-localization
• Owner: plusk01
• Created: 2017-10-17T17:11:25.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2020-06-24T04:15:19.000Z (almost 6 years ago)
• Last Synced: 2025-03-14T21:36:24.696Z (about 1 year ago)
• Topics: aruco-markers, extended-kalman-filters, information-filter, localization, matlab, ros, turtlebot
• Language: MATLAB
• Homepage:
• Size: 205 KB
• Stars: 3
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
TurtleBot Extended Information Filter (EIF) Localization

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Using data acquired from a monocular camera attached to a TurtleBot, range and bearing measurements to various ArUco markers are given. The goal of this assignment is to post-process the given data and localize the TurtleBot in the provided map.

An extended information filter is used to perform localization. See Table 7.2 and Table 3.6 of *Probabilistic Robotics*, Thrun et al.