This project contains a 2D Extended Kalman Filter which fuses velocity laser range-finder measurements to estimate pose of mobile robot.
- '2D_EKF.m': Main script for EKF and creating animation
- 'dataset2.mat': Matlab workspace with measurements and groundtruth data.
- '2D_EKF_Visualization.mov': Video of state estimation results with uncertainty bounds.
- '2D_EKF_Example.pdf': Report containing derivations of motion and observation models.