Appendix

Contents

• Steering Motion Model
  • Turning radius calculation by steering motion model
  • Turning radius calculation by 2 consecutive positions of the robot trajectory
  • Target speed by maximum steering speed
  • References:
• KF Basics - Part I
  • Introduction
  • Variance, Covariance and Correlation
  • Gaussians
  • Gaussian Properties
  • References:
• KF Basics - Part 2
  • Probabilistic Generative Laws
  • Conditional dependence and independence example:
  • Bayes Rule:
  • Bayes Filter Algorithm
  • Bayes filter localization example:
  • Bayes and Kalman filter structure
  • Kalman Gain
  • Kalman Filter - Univariate and Multivariate
  • References: