State-Estimation-for-Robotics

In this project we tried several different pipelines including Linear Kalman Filter, Extended Kalman Filter and Point-Cloud Alignment(Batch Gauss-Newton Estimator) to tackle different state estimation problems.

The problem descriptions are listed in 4 seperated pdfs.

1. Proves
2. Batch Linear-Gaussian Estimator
3. Iterative Extended Kalman Filter
4. Batch Gauss-Newton Estimator

The solutions for each task are located in:

1. Proves
2. Batch Linear-Gaussian Estimator
3. Iterative Extended Kalman Filter
4. Batch Gauss-Newton Estimator