Alice: Road Following

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This lecture will present a practical example application for the estimation tools presented in the Monday and Wednesday lectures. The example application is road estimation and tracking for off-highway navigation.

I'll present implementation details, resources and results from live testing of an extended Kalman filter implementation, and provide resources and preliminary results for implementing moving horizon estimation to solve the same problem. --Lars 09:08, 21 April 2006 (PDT)

Lecture Materials

Lecture: Alice Road Estimation


  • Cf. (extended) Kalman filter reading materials from Monday 4/17/06 lecture.

Additional Resources

  • An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.