Investigating using the EKF The Extended Kalman Filter (EKF) has received abundant attention with the growing demands for robotic localization. The EKF algorithm is more realistic in non-linear systems, which has an autonomous white noise in both the system and the estimation model. Also, in the field of engineering, most systems are non-linear. Reference video description : This video composes three synchronized views at the beginning and also shows the 3D reconstruction of the structure at the end. The top left corner shows the real operation of the robot moving around the structure gathering the 3D scans. The bottom left corner shows the generated map with each scan painted with a different color. There it can be seen how the point clouds are added to the map with the estimation of the robot position (i.e. with the pose predicted by the EKF) producing inconsistencies and that, after the registration results are incorporated to the EKF the map consiste...
