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

This repo is for 4 sensor fusion projects that use real-world data from images, lidar, and radar.

Trajectory path estimation using Python, cpp and UKF

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.