Self Driving Cars State Estimation and Localization

Run the filter:

```bash
python3 es_ekf.py
```

📊 Results

🔹 Ground Truth Trajectory

🔹 Ground Truth vs Estimated Trajectory (Part 1)

🔹 Error Plots (Part 1)

---

🔹 Ground Truth vs Estimated Trajectory (Part 2)

🔹 Error Plots (Part 2)

Replace the above image paths with your actual plot file locations inside the plots/ folder.

⚙️ Sensor Variance Settings

You can tune the sensor variances inside main.py under the Constants section:

var_imu_f = 0.1
var_imu_w = 1.0
var_gnss  = 0.01
var_lidar = 0.25