20 Feb

EKF-SLAM with one landmark

Anjali Pemmaraju

Here is a video of my EKF-SLAM code performing with 1 landmark. The red line is the EKF estimate while the blue and black lines are dead reckoning and true trajectory.

I adopted my code from https://github.com/AtsushiSakai/PythonRobotics/blob/master/SLAM/EKFSLAM/ekf_slam.py I hope use my code to look at the error bounds of EKF-SLAM more closely after adapting it to use more landmarks.

ekf.mov

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