Provides Python scripts applying extended Kalman filter to KITTI GPS/IMU data for vehicle localization.
See this material(in Japanese) for more details.
cd kalman_filter_with_kitti
mkdir -p data/kitti
Donwload a set of [synced+rectified data] and [calibration]
from KITTI RawData,
and place them under data/kitti directory.
Though we use 2011_09_30_drive_0033 sequence in demo.ipynb,
you can use any RawData sequence!
Then, unzip them:
cd data/kitti
unzip 2011_09_30_drive_0033_sync.zip
unzip 2011_09_30_calib.zip
pip install -r requirements.txt
See demo.ipynb.