what are the states and transistion matrices used in the robot_pose_ekf stack

asked 2012-07-15 22:27:59 -0600

26 ●2 ●3 ●5

updated 2012-07-15 22:29:11 -0600

Does anyone know what state vector, inputs, transistion matrix and measurement matrix is used with the robot_pose_ekf package?

The package fuses data from odometry, IMU and vo. how does this implement the ekf?I've read that you do a prediction step and then a correction step. During which step is each of the data used?

I'm trying to modify the code to incorporate a gyro, but am unable to understand the code.

Thanks!

edit retag flag offensive close merge delete

add a comment

1

answered 2012-08-31 10:56:37 -0600

jbohren

5799 ●55 ●87 ●102 http://dscl.lcsr.jhu.e...

This answer might help.

edit flag offensive delete link

add a comment

-1

answered 2012-07-31 21:28:59 -0600

martimorta

flag of United Kingdom of Great Britain and Northern Ireland

841 ●14 ●18 ●34 http://www.linkedin.co...

updated 2012-09-03 23:41:12 -0600

To know how works the library that implements EKF you can check out its documentation in www.orocos.org/bfl. There you will get a better idea about the models used, hence understand better the code.

Maybe learn how EKF works before reading about BFL or trying to modify the code may be useful :)

edit flag offensive delete link

add a comment

what are the states and transistion matrices used in the robot_pose_ekf stack

2 Answers

Question Tools

Stats

Related questions

what are the states and transistion matrices used in the robot_pose_ekf stack edit

2 Answers

Question Tools

Stats

Related questions

what are the states and transistion matrices used in the robot_pose_ekf stack