Michel Hidalgo

### Feature description Connected to #424. Perhaps #187 too. Auxiliary particle filters are relatively simple variation over bootstrap particle filters (BPF) in that they steer the BPF towards regions of...

### Feature description `ciabatta` belongs to a previous iteration of Beluga. We no longer use mixins, and we certainly don't need a mixins library to do CRTP. This is a...

### Feature description Connected to #264. Both `clang` and `gcc` have sanitizers these days. This is long overdue for this project. ### Implementation considerations If possible, keep it compiler agnostic...

### Feature description We know we don't do particle filtering the textbook way, and we know (or at least have decently informed hypotheses, see #153 and #187) as to why....

### Feature description In general, the more information you have, the better your estimate will be. Alas, our bootstrap particle filter (BPF) workhorse can only reweight particles with one sensor...

### Feature description Lots of beacon-based tracking systems (ultrasonic, UWB, even GPS after some projection like UTM) yield position and orientation w.r.t. some frame in Euclidean space, with varying degrees...

While working on #491, we decided that it wasn't Beluga's responsibility to pre-process point clouds in application specific ways, potentially taking a performance hit (point clouds can grow large). Alas,...