Robotics, Kalman Filter, Robot Operating System, State Estimation, Artificial Intelligence.
of the noise ϵ_t, is added. This completes the prediction step of the Kalman Filter. Lines 4 to 6 execute the update step of the Kalman Filter, which integrates measurements to refine our estimation of the state. In line 4, the variable K_t​, known as the Kalman gain, is calculated to determine the