EKF localization with lidar features
ROS 2 · TurtleBot3 · own split-and-merge line extraction
Autonomous Mobile Robots, ETF Belgrade, spring 2026. Line extraction code
A real-time ROS 2 extended Kalman filter that fuses wheel odometry with line features extracted from lidar scans. I implemented split-and-merge line extraction and Mahalanobis-gated data association. A waypoint-following loop runs on the estimate, evaluated against Gazebo ground truth.