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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 ...
Shrinivas Iyengar's user avatar
2 votes
0 answers
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 ...
joe.dinius's user avatar
1 vote
0 answers
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 ...
FourierFlux's user avatar
1 vote
0 answers
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 ...
FourierFlux's user avatar
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0 answers
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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-...
FourierFlux's user avatar
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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 ...
FourierFlux's user avatar
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13 views

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

that is my code ...
chan mlen's user avatar
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0 answers
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 ...
ICRed's user avatar
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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, ...
sbourne's user avatar
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0 answers
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 ...
brennanenanen's user avatar
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0 answers
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EKF Update Step measurement data doesnt fit state vector

I have an EKF SLAM Algorithm which tries to estimate the robots position (X,Y,Theta) + the X,Y coordinates of several landmarks. Like in the posted algorithm i have a range/bearing sensor. I ...
muller135's user avatar
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Differences between strapdown inertial navigation and motion models

In a state estimation scheme with a simple IMU/GNSS setup using EKF, I have always thought the prediction step would be done using a motion model and all sensor measurements would be incorporated via ...
vasf's user avatar
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