Vehicle localization and state estimation
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After my previous experiments with camera-based detection and FLOAM-based LiDAR odometry in CARLA, I wanted to push things further — this time focusing on robustness under adversarial conditions.
After my previous CARLA experiment with camera-based object detection, I wanted to push further — this time focusing on LiDAR and localization.
Over the past few weeks, I have been studying the Invariant Extended Kalman Filter (IEKF) — a variant of the EKF specifically designed for systems with inherent symmetries or invariances, such as Lie group symmetries.