Robotics, Kalman Filter, Robot Operating System, State Estimation, Artificial Intelligence.
in Python def predict(self, u, dt): # Predict state estimate (mu) self.mu = self.A().dot(self.mu) + self.B(self.mu, dt).dot(u) # Predict covariance (Sigma) self.Sigma = self.A().dot(self.Sigma).dot(self.A().T) + self.R return self.mu, self.Sigma def update(self, z): # Compute the Kalman gain (K) K