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pose_ekf

2020-04-01 | |  47 |   0 |   0

pose_ekf

Extented Kalman Filter for 6D pose estimation using gps, imu, magnetometer and sonar sensor.

#state for kalman filter 0-3 quaternion

4-6 Px Py Pz

7-9 Vx Vy Vz

10-12 bwx bwy bwz

13-15 bax bay baz

#inertial frame: ENU

How to run the code

cd catkin_ws/src
git clone git@github.com:libing64/pose_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="pose_ekf"
roslaunch pose_ekf pose_ekf.launch

#rosbag for test

  1. download the rosbag

    https://drive.google.com/folderview?id=0B4hFvojO5r3scWJRVWdhSmdLd0k&usp=sharing

  2. replay the rosbag

    rosbag play 2016-03-09-22-11-07.bag

图片.png

图片.png

reference:

http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf


上一篇： pytorch_Realtime_Multi-Person_Pose_Estimation

下一篇：pose_estimation

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