Error state Extended Kalman Filter for Sensor Fusion

Two ways to run the project

Steps to run the project with CARLA

Requirements

• CARLA (follow the step mentioned here : install carla)
• python3
• pip3 install -r requirements.txt

Steps to run

• run carla : ./CarlaUE4.sh -prefernvidia -quality-level=Low
• python3 main_sim.py

Steps to run the project without CARLA and with recorded sensor data and with animation plot

In this case sensor-data has been pre-recorded and can now be traversed iteratively .

requirements

• python3
• pip3 install -r requirements.txt

steps to rrun

• python3 main_recorded.py