State Estimation for Localization
Theory notes and articles
State Estimation for Localization
This site contains theory notes and technical articles written to accompany my C++ state-estimation project, state-estimation.
Documentation
Theory notes on conventions, modeling choices, and the mathematics behind the state-estimation implementation.
Articles
Longer pieces on estimation, geometry, notation, and related topics.
Featured article
Localization in State Estimation: A Working Mental Model
A technical web article about how motion models, measurements, and uncertainty fit together when you are trying to locate a system in the world.