This a project created related with the work done for my PhD. There's currently an implementatin of an 8-state EKF that uses constant velocity model with acceleration noise to estimate the trajectory of an imaging sonar.

The dataset can be found in http://eia.udg.edu/~dribas/files/StPereDataset.zip

Instructions on how to interpret data in http://eia.udg.edu/~dribas/files/description.pdf

@article{ribas08, Author = {D. Ribas and P. Ridao and J.D. Tard{'o}s and J. Neira}, Date-Added = {2008-04-17 10:55:49 +0200}, Date-Modified = {2008-12-09 13:03:48 +0100}, Journal = {Journal of Field Robotics}, Month = {November - December}, Number = {11-12}, Pages = {898-921}, Title = {Underwater {SLAM} in Man Made Structured Environments}, Volume = {25}, Year = {2008}}

python odometry.py

- 12-state EKF
- Scan matching algorithms (icp, probialisitic ICP, pIC)