Error Ellipses in Action
This video is the answer to how the error ellipse changes its look when tweaking the entries of its corresponding covariance matrix! The animation shows the covariance matrix, the error ellipse, the eigenvalues and the correlation coefficient in a wide range of values. Feel free to download, reuse, and reference. This video is used in my teaching activities.
Video (mp4, 2 MB)
Freiburg People Tracker
This is our baseline implementation of a laser-based people tracker. Written in C++, it employs Kalman filters, a constant acceleration motion model, and a nearest neighbor data association. The tracker has been developped in order to address questions of situation analysis, that is, the study of techniques that enable robots to better understand their social surrounding. The current implementation tracks multiple targets at up to 200 Hz on a Athlon 2GHz (wait time for the sensor data excluded)
See the code documentation (by Doxygen)
CAS Robot Navigation Toolbox
This is a mirror of the CAS Robot Navigation Toolbox for Matlab.
More information: Toolbox homepage and projects page