A Variant of the Unscented Kalman Filter

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As a final project in Dr. Michael Kaess’s SLAM course at CMU, my team investigated a novel variant of the Unscented Kalman Filter and got some very interesting results. I ended up writing a generic implementation for the KF, EKF, and UKF along the way.

Code: https://github.com/rschwa6308/UKF-Variants