# Questions tagged [estimation]

The tag has no usage guidance.

12 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
327 views

### Particle Filter for IMU tilt angle and bias estimation from Kalman Filter models

I understand the functioning of Particle Filters from the book Probabilistic Robotics and the robotics course provided by Cyrill Stachniss. I want to implement, from scratch, a particle filter to ...
133 views

### Wheeled Mobile Robot State Estimation Model Using Odometry

I have a process model update that follows the form: $$\mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k,$$ where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
• 121
1 vote
17 views

### Propagation of covariance matrix during a rotation

Suppose we have a rotation matrix representing an objects rotation in a certain frame $F_1$ along with a distribution of Euler Angles representing the probability that the object is perturbed from ...
• 393
1 vote
30 views

### Observability of Gravity in SLAM

A number of SLAM systems only optimize over 4 variables(location and yaw) as they argue gravity is observable which constrains roll and pitch. I don't understand this argument since in theory you ...
• 393
4 views

### Confusion on optimizing variable time-offset for VIO SLAM

I was reading the following paper on how you can incorporate variable time offset for a camera in VIO: https://openaccess.thecvf.com/content_ECCV_2018/papers/Yonggen_Ling_Modeling_Varying_Camera-...
• 393
11 views

### Is it possible to do uncertainty propagation with TF2? If not what can I use?

I'm interested in applying a sequence of linear transformations to a gaussian probability vector in TF2. As far as I understand this is a pretty operation due to the gaussian nature and I see TF2 has ...
• 393
13 views

### How to transform the detected target pose into the pose in the camera coordinate system in Gazebo

that is my code ...
37 views

### What are some resources to learn Probability, Statistics and Stochastic Processes so I can understand Optimal State Estimation?

I went to grad school for Mechanical Engineering almost 7 years ago, where I avoided any probability/stats coursework like plague and stuck to linear algebra and differential equations for my math ...
22 views

### Does the Factored Quaternion Algorithm Account for Declination?

Looking at the documentation for the Factored Quaternion Algorithm (FQA). In section 2 they define NED as the traditional Earth's fixed coordinate system, thereby referring to 'true' north. However, ...
275 views

### Estimating gyroscope bias for attitude IMU sensor fusion with an unscented Kalman filter

I'm trying to use a UKF as the attitude estimator for a drone with just a gyroscope and accelerometer as sensors. So far, it's going well and after some tuning appears to perform basically as well as ...