###Introduction

This is an implementation of the EKF localizationn with known correspondences from the book Probabilistic Robotics by Thrun et. al. I wrote this code to help me understand the material better. So others may find it useful as well.

The simulation consists of a robot with a range sensor that can detect known landmarks in the world. You move the robot around using the arrow keys.

One addition I made was handle the case when angular velocity is zero. The original algorithm found in the book would result in a divide by zero.

###Requirements This demo code requires the following libraries

• SDL2
• Eigen

I've only tested this on a Linux machine but it should work on Mac and Windows because both libraries are cross platform.

###Compiling

mkdir build
cd build
cmake ..
make

###Customization All the parameters for the simulation can be found in config.h