Prerequisites
numpy math PyQt5 pyqtgraph matplotlib scipy pytorch gym
2D grid Bayes filter. Cell characeterized by a color (0 or 1) and noisy color and odometry sensors.
Unscented Kalman Filter for rotation estimation using quaternions. Result in roll, pitch, yaw where orange is estimated and blue is actual.
SLAM on Victoria park dataset using Extended Kalman Filter to combine predicted dynamics from wheel encoder and periodic gps measurements of a vehicle driving around observing trees. Each tree detected from laser maeasurement is added to the state to create a map. Mahlanobis distance is used to determine if a tree is already apart of the map.
Policy gradient reinforcement learning on Open AI gym cartpole.
