本帖最后由 Bluesky 于 2015-6-11 13:57 编辑
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KFilter is a library implementing an Extended Kalman Filter in C++. Configurable template classes are available. Subclassing allows to define different matrix contents for the filter to work with. Kalman filters are used for some time now, in aeronautics, robot vision and robotics in general. It is useful to estimate a state vector and correct the estimation by using measures taken from sensors. Its main uses is for tracking or data fusion. The library is fully operational and has been used in two research projects at Ecole Polytechnique de Montreal.