Angle Kalman Filter
Besides object position tracking, heading angle tracking is also critical in autonomous driving. In this article, we will discuss how to track the angle of an object using the Kalman filter and how to do motion compensation. Wrap the Angle In this paper “On wrapping the Kalman filter and estimating with the SO(2) group”, the author has the conclusion: “based on the mathematically grounded framework of filtering on Lie groups, yields the same result as heuristically wrapping the angular variable within the EKF framework”. ...