Coursera self-driving2, State Estimation and Localization Week2, kalman filter 卡尔曼滤波
KF - Kalman Filter:
EKF - Extended Kalman Filter:
ES-EKF - Error State Extended Kalman Filter
和EKF一样,用的是 local linearization
EKF的限制:系统非常的非线性,用线性模拟很不准确. 作者举例极坐标转成笛卡尔坐标就是一种很不线性化的转换,用线性模拟就不行,不收敛
Unscented Kalman Filter - UKF
这个就是解决上面的问题的, 它更精确,而且不需要算jacobian矩阵
Summary:
Ref:
- http://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/ 图文并茂好文章, amazing!!!
- 最小二乘法的本质是什么?
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