Unscented Kalman Filters

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01. Introduction
02. The CTRV Model
03. The CTRV Model State Vector
04. CTRV Differential Equation
05. CTRV Integral 1
06. CTRV Integral 2
07. CTRV Zero Yaw Rate
08. CTRV Process Noise Vector
09. CTRV Process Noise Position
10. UKF Process Chain
11. What Problem Does the UKF Solve?
12. UKF Basics Unscented Transformation
13. Generating Sigma Points
14. Generating Sigma Points Assignment 1
15. Generating Sigma Points Assignment 2
16. UKF Augmentation
17. Augmentation Assignment 1
18. Augmentation Assignment 2
19. Sigma Point Prediction
20. Sigma Point Prediction Assignment 1
21. Sigma Point Prediction Assignment 2
22. Predicted Mean and Covariance
23. Predicted Mean and Covariance Assignment 1
24. Predicted Mean and Covariance Assignment 2
25. Measurement Prediction
26. Predict Radar Measurement Assignment 1
27. Predict Radar Measurement Assignment 2
28. UKF Update
29. UKF Update Assignment 1
30. UKF Update Assignment 2
31. Parameters and Consistency
32. What to Expect from the Project
33. Story Time
34. Outro
35. Bonus Round: Sensor Fusion [Optional]

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19. Sigma Point Prediction

Sigma Point Prediction

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