This lab consists of two parts: 1. A preparatory case study with a standard Kalman lter where you learn more about the behavior of the Kalman lter. Very little extra code is needed. 2. The main lab 1 problem in which you need to complete an implementation of an Extended Kalman lter based robot localization.

EKF_Peng\associate.m
........\batch_associate.m
........\batch_update.m
........\calculate_odometry.m
........\DataSets\map_o3.txt
........\........\map_pent_big_10.txt
........\........\map_pent_big_40.txt
........\........\so_o3_ie.txt
........\........\so_pb_10_outlier.txt
........\........\so_pb_40_no.txt
........\displaySimOutput.m
........\drawLandmarkMap.m
........\ekf_localize.m
........\init.m
........\jacobian_observation_model.m
........\make_covariance_ellipses.m
........\observation_model.m
........\predict.m
........\runlocalization_track.m
........\update.m
........\DataSets
EKF_Peng

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