Robot Localization using Extended Kalman Filtering with landmarks

Prerequesites

Libraries

SDL2: Install using $apt install libsdl2-dev
Eigen: Eigen is a header-only library, i.e. no need to install/compile any code separately. Get it here.

We use cmake as the build system for this project. If you do not have it installed on your system, do so using $apt install cmake

Go into the project installation directory and create a build directory:

$mkdir build

Then, cd into the directory and run cmake on the parent directory and build the project:

cd build && cmake .. && make

The Extended Kalman Filter is the nonlinear extension of the standard Kalman Filter