State Estimation using Kalman Filters, EKF and solving the Data Association problem
This repository is part of a £25,000 Innovate UK-funded project, delivered in collaboration between the University of Southampton and an industry client. It involved dataset curation, mobile self-localisation, 3D mapping and object detection.
Advanced Multi-Algorithm SLAM | MATLAB-based robotics research comparing six localization algorithms — Dead Reckoning, EKF, UKF, QPSO, Neural Network, and GraphSLAM — with 30+ visualizations and 97.3% accuracy improvement.
Definition and implementation of a syntax for modelling movement patterns in semantic localisation time-series
A work-in-progress implementation of the grid localisation algorithm.
This code was developed as part of a broader team navigation project which also included path planning & exploration and HW deployment in robile platform . This submodule focussed on developing different methods (odom & velocity based) and tuning the Monte Carlo Localization (Particle Filter) stack within a ROS2 simulation environment.
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