Research Kalman Filters

[smriti-kumar]

Explore math behind different types of Kalman filters and EKFs
Read papers implementing Kalman filters in similar cars

Resources:

• How a Kalman Filter Works in Pictures: https://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/ (good intro article)
• Kalman Filter and EKF Math: https://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf
• Kalman filter-based sensor fusion for Ackermann steering mobile robots: https://iopscience.iop.org/article/10.1088/1742-6596/2811/1/012004
• ACK-MSCKF: Tightly-Coupled Ackermann Multi-State Constraint Kalman Filter for Autonomous Vehicle Localization: https://pdfs.semanticscholar.org/8808/7df8cc8e6a5435cdd1347290baefb998b819.pdf
• Unscented Kalman Filter: https://docs.duckietown.com/daffy/course-intro-to-drones/ukf/theory/ukf-specifics.html, https://groups.seas.harvard.edu/courses/cs281/papers/unscented.pdf, https://www.youtube.com/watch?v=c_6WDC66aVk
• Error-State Kalman Filter: https://notanymike.github.io/Error-State-Extended-Kalman-Filter/, https://arxiv.org/pdf/2406.06427
• Particle Filter: https://www.youtube.com/watch?v=BfKEf2s7Y80, https://sassafras13.github.io/PF/, https://www.kaggle.com/code/datasniffer/introduction-to-particle-filters

[lucaslibshutz]

@smriti-kumar if you got them, can you post some of your notes to this thread? thanks :)

[smriti-kumar]

Notes on KF, EKF, UKF, ESKF, PF, Ackermann Model:
Kalman Filter and More Notes.pdf