libing64/pose_ekf

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Language
C++
Created over 8 years ago
Updated about 4 years ago

libing64/pose_ekf

libing64

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

pose_ekf

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

1. State for kalman filter

[p v q ba bw]

error state [dp dv d_theta dba, dbw]

2. inertial frame: NED

3. running

3.1 running with simulator

cd catkin_ws/src
git clone [email protected]:libing64/pose_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="pose_ekf"
roslaunch pose_ekf pose_ekf_simulator.launch

3.2 rosbag for test (TODO)

learning_rtklib

camera_model

相机内参标定和双目标定, 支持多种相机模型和多种标定板，

att_ekf

Extented Kalman Filter for attitude estimation using ROS

slam2d

Low drift 2D lidar slam with scan-to-scan match and scan-to-map match.

lidar_pose_estimator

6 DOF pose estimator with 3D lidar data

RansacLine

gpstk_example

stereo_vo

keyframe-based stereo visual odometry

manifold_linux

wireless_localization

wireless localization using rss and angle of arrival

ath9k

ath9k driver for collecting csi (ubuntu 14.04)

jobs_in_deeproute_ai

欢迎来到自动驾驶领域，欢迎加入元戎启行

monocular_vo

human_pose_estimator

human pose estimator

kinematics

6 DOF inverse kinematics solution

dual_prisms_scanner

lidar scan pattern