kalman_filter_with_kitti

Provides Python scripts applying extended Kalman filter to KITTI GPS/IMU data for vehicle localization.

See this material(in Japanese) for more details.

Usage

Download KITTI RawData

cd kalman_filter_with_kitti
mkdir -p data/kitti

Donwload a set of [synced+rectified data] and [calibration] from KITTI RawData, and place them under data/kitti directory.

Though we use 2011_09_30_drive_0033 sequence in demo.ipynb, you can use any RawData sequence!

Then, unzip them:

cd data/kitti
unzip 2011_09_30_drive_0033_sync.zip
unzip 2011_09_30_calib.zip

Install dependencies

pip install -r requirements.txt

Run demo

See demo.ipynb.