Python sample codes and textbook for robotics algorithms.
Modular Python tool for parsing, analyzing, and visualizing Global Navigation Satellite Systems (GNSS) data and state estimates
Radar and Lidar Sensor Fusion using Simple, Extended, and Unscented Kalman Filter for Object Tracking and State Prediction.
High accuracy multi-agent UWB localization for a system of UAVs and UGVs collaborating for accurate positioning in a GPS-denied environment.
An INS-EKF-ZUPT for Pedestrian Dead Reckoning
An Intuitive tutorial on Bayesian filtering
Python implementation of an Extended Kalman Filter.
Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM
Pure Python/Numpy Bayesian Filtering and Smoothing
Research Project on Multi-robot Target Tracking via Deep Reinforcement Learning
UWB+IMU fusion using collaborative EKF i.e. sharing data between agents. Continuation of single robot case https://github.com/simutisernestas/rfloc
EKF for sensor fusion of IMU, Wheel Velocities, and GPS data for NCLT dataset
Sensor fusion between Odometry and Lidar data using an Extended Kalman Filter.
KF, EKF and UKF in Python
UWB EKF positioning. Multi agent case + IMU fusion is extended in the following work: https://github.com/simutisernestas/jubilant-dollop
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