Sample code in MATLAB/Octave for "Kalman Filter for Beginners"
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Jun 20, 2026 - MATLAB
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error-state-kalman-filter
Here are 7 public repositories matching this topic...
Error State Kalman Filter All in One, from Theory to Practice.
gps imu vision lidar ekf robot-localization eskf error-state-kalman-filter extend-kalman-filter wheel-encoder
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Jan 7, 2021
GNSS-IMU Localization based on Error-State Kalman Filter
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Dec 18, 2023 - C++
Official code for "Adaptive Covariance and Quaternion-Focused Hybrid Error-State EKF/UKF for Visual-Inertial Odometry" (IJCIS 2025)
uav unscented-kalman-filter sensor-fusion kalman-filter visual-inertial-odometry error-state-kalman-filter euroc-mav adaptive-covariance
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Oct 1, 2026 - Python
Implementation of several popular Kalman filter nonlinear variants intended for robotics systems and vehicle state estimation, including Extended Kalman Filter, Unscented Kalman Filter, Error State EKF, Invariant EKF, Square Root EKF, Cubature KF.
localization robotics particle-filter self-driving-car kalman-filtering unscented-kalman-filter ukf mobile-robots state-estimation ekf kalman-filter extended-kalman-filter error-state-kalman-filter invariant-ekf
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Jun 1, 2024 - Python
Selected code from my M.Sc. thesis: Cyber-resilient multi-modal sensor fusion for autonomous ship navigation
template-matching localization gps compass imu lidar sensor-fusion multi-modal kalman-filter marine gnss-denied-environments gps-denied error-state-kalman-filter open-source-map
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Mar 21, 2024 - Python
Real-time vehicle state estimation using Error-State Extended Kalman Filter (ES-EKF) with IMU, GNSS, and LIDAR data. Includes sensor fusion, trajectory visualization, and error analysis.
python3 lidar self-driving-car gnss state-estimation kalman-filter imu-sensor error-state-kalman-filter
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Aug 10, 2025 - Python
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