State estimation

Main authors: Simon Rohou, Maël Godard (Matlab binding)

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• Lesson A: Range and bearing
  • Formalism
  • Decomposition of constraints
  • Optimality of contractors
  • The polar constraint
  • Initialization
  • State estimation
• Lesson B: Data association
  • Introduction: indistinguishable landmarks
  • Data association: formalism
  • The constellation constraint and its contractor
  • Application for localization
  • State estimation without data association
  • State estimation with data association
  • Conclusion
  • Related content
• Lesson C: Dynamic loc.
  • Formalism
  • Decomposition
  • Initialization
  • State estimation with constraint programming