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Paul Kemppi (@PaulKemppi)

PaulKemppi

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Registered about 12 years ago
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Location 🇫🇮 Finland
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gtsam_fusion

Estimates pose, velocity, and accelerometer / gyroscope biases by fusing GPS position and/or 6DOF pose with IMU data. The fusion is done using GTSAM's sparse nonlinear incremental optimization (ISAM2). The ROS (rospy) node is implemented using GTSAM's python3 inteface.