the extended Kalman filter, a filter for nonlinear state estimation.
Questions tagged [ekf]
263 questions
4
votes
2 answers
Direct vs semi-direct methods for visual inertial odometry
I was reading these papers on visual inertial odometry from IROS 15:
Semi-Direct EKF-based Monocular Visual-Inertial Odometry
Robust Visual Inertial Odometry Using a Direct EKF-Based Approach
I would appreciate if someone could explain how…
rookie
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2
votes
1 answer
extended kalman filters, linearization of output
Say, we are dealing with an odometric localization problem.
In the below example, $(x_k, y_k), (x_l, y_l)$ are cartesian coordinates of the sensor and the landmark respectively. Then the output equation is:
$z_k = atan2(y_k − y_l, x_k − x_l)$
Is the…
Leon Rai
- 155
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2
votes
1 answer
Doubt with linearization and discretization process - Ekf
In the paper "State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU", the authors describe the application of an extended kalman filter to estimate states of a quadruped robot, where the equations used in the prediction…
Bruno Feltrin
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0
votes
2 answers
Extended Kalman Filter for IMU
I am trying to use a multilayer perceptron to make a flight controller for a ROV. I have a MPU-9250 IMU and I need to remove the noise from the sensor before I can train my MLP. The IMU has a accelerometer, gyro and a magnetometer. I know my state…
ItsKalvik
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0
votes
1 answer
Robot_localization ekf node does not subscribe to Odom topic
Hello,
I am trying to fuse my odometry from my 2D differential drive robot, with my imu using the ekf from RL. The odometry works fine on it's own, but I think I must be missing something simple in my config files as I cannot get the ekf node to…
LiquidTurtle1
-1
votes
1 answer
Calculated yaw angle is not poper (EKF)
I used EKF to observe the quaternion and extract the roll, pitch and yaw angles. The used sensors are Gyro sensor and acceleration sensor.
The roll and pitch angle looks like proper but the yaw angle is not proper.
In this case , I can't get the…
kkj
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