Questions tagged [kalman-filter]

A Kalman filter is an optimal estimator for linear dynamical systems with Gaussian noise. Extensions to non-linear systems are included through the Extended KF and Unscented KF.

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228 views

How should I understand sequential importance resampling in a particle filter?

Suppose I implement a particle filter with $n$ particles. This is a brief description of my understanding of a particle filter. For the first step, I throw out $n$ particles some distance from my ...
155 views

SEIF ,online version of Graph slam create doubt in Motion Update state

I have a thesis work about Graph Slam The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures I try to implement it with the help of this paper but during the ...
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Rotation composition When using Kalman Filter

I am implementing a Kalman Filter for the following situation. I have a camera set in a room that can detect the position and orientation of a marker (ARUCO) in the room. Therefore I have the ...
159 views

How is the GPS fused with IMU in a kalman filter?

I've been trying to understand how a Kalman filter used in navigation without much success, my questions are: The gps outputs latitude, longitude and velocity. While the IMU outputs acceleration and ...
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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 ...
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Kalman Filter for 2d pose

I'm really sorry if this is a dumb question, but I don't have a clue on how to do this. I'm trying to write a kalman filter with a State vector of : {x, y, ẋ, ẏ, ẍ, ÿ } To estimate the 2 dimensional ...
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How do you handle angle discontinuities in estimation problems?

When one is implementing a state estimator in a system that involves kinematics, will inevitably face the problem of angle discontinuities, i.e., the fact that the angles have to be wrapped between ...
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How to synchronise data for fusion in Kalman from multiple sensors with different timestamp information?

I'm using Kalman filter to track the position of a vehicle and receive position data from 2 sensors: A GPS sensor and an Ultrasonic sensor for which I want to implement sensor fusion into the Kalman. ...
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Position-Attitude Kalman filter with Quaternions

I want to design an EKF to estimate the position of a UAV. If I were doing this with Euler angles then I would have a state vector that would look like \begin{bmatrix}north&east&down&...
484 views

How to properly calibrate a magnetometer in IMU for precise yaw?

EDIT: Moved to ElectricalEngineering StackExchange Community I'm using Sparkfun Razor IMU 9DOF sensor which incorporates accelerometer, gyroscope, and magnetometer, for giving the Euler's angles (yaw,...
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How to actually fuse sensor using Extended Kalman Filter

Background I'm working on 4-omniwheel mobile robot. It have encoder on each wheel and MPU 6050 IMU. The robot positioning suffer a great error because slip, so i try to increase the accuracy of ...
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Drone lost traj recovery

So I am using slam algorithm to localize the drone which is gps denied . The input to the slam algo is imu data and a video . Now after the first run of the slam algorithm it creates the trajectory ...
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Kalman filter for visual tracking of a ball sliding on a gutter

I'm working on a project where a robot needs to keep a ball at a desired position on a gutter. The gutter is fixed at one end and held at the other end by the robot’s ...
159 views

Sensor fusion of GNSS and IMU using UKF

I do have a land-based robot with an IMU and a GNSS receiver. From the IMU, I get the velocity and acceleration in both $x$ and $y$ directions. From the GNSS receiver, I get the latitude and ...
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I'm struggling to implement Unscented Kalman Filter for tracking objects using radar. My state vector contains [x y z vx vy vz] and I can measure [rho phi theta velocity]. So everything looks trivial ...
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Can someone help me understanding reference frames in OxTS data in KITTI Vision Benchmark dataset?

If anyone has worked with KITTI dataset, can you explain the reference frame used in roll pitch yaw values? I downloaded the raw data from this link: http://www.cvlibs.net/datasets/kitti/raw_data.php ...
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Fixed-Delay Kalman smoother with/without augmented measurements

There are several algorithms regarding fixed-lag Kalman smoothing. In most cases, an augmented state vector is defined in which the elements are the current and delays of the original state vector. ...
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Doubts in the implementation of a Kalman filter to merge position data from two identical sensor

I'm currently working on the implementation of a system for calculating the vibrations of a hand using two Leapmotion devices, these devices deliver in real time the spatial location (x,y,z) and the ...
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Position Estimates from sensor fusion

I have a quadcopter, and several components in play. First, I have a real position system (VICON), and I also have a SLAM platform. Then, of course, the IMU on the quadcoptor. I am trying to ...
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Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
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Lost on SEIF Slam repeated update landmark

I am working on Sparse Extended Information Slam. I take the reference from Probabilistic Robotics, by Dr.Sebastian Thrun (Chapter 12,page 303). I have some doubt about the implementation of the ...
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How to apply Kalman filter in this case?

I have some straight and curve pieces with numbers, they are used to build tracks (of $5$ lanes) for my cars (figure $1$), I can send commands to the cars using an SDK on the Raspberry (set the speed ...
148 views

Kalman filter for slow ground vehicle with RTK

I have been using dual RTK receivers for my tractor projects. This gives me reliable position, heading, and tilt at low rates (10 Hz). I recently began working with an INS (an Advanced Navigation ...
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EKF based SLAM, marginalization and key-frames

I have a couple of tightly related questions regarding EKF-based visual SLAM. It is common in the Kalman based VSLAM litterature to marginalize 3d points and past poses. Condsidering the EKF as a ...
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Help with fusing multiple measurements with known covariances

I am working on an estimation application for multiple robots, each of which uses measurements from various sources to calculate position and orientation data. For now, I am looking at about three ...
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How does a measurement model for camera based PNP work?

I am trying to write an EKF that can estimate the covariance of a pose estimate, where the estimation is being done by a PNP algorithm and 3D-2D correspondences in images. Although EKF based camera ...
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Calculate input parameters of CTRV model

I am using Constant Turn Rate and Veloctity (CTRV) model to predict the position of the vehicle.The CTRV model assumes a circular path between two consecutive time steps of the car as depicted in the ...
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Accelerometer, gyro, and magnetometer sensor fusion for material resource survey

As a hardware engineer, I have studied quite a lot on sensor spec such as Accel, Gyro and Magnetometer including custom made fluxgate. I have studied matrix and quadarion (complex number) and so on. I ...
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I recently decided to build a quadricopter from scratch using Arduino and now I'm faced with an orientation estimation problem. I bought a cheap 10DOF sensor with 3 axis magnetometer, 3 axis ...
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Fusion of GNSS position data and prefused 9-dof AHRS data

Bosch, FreeScale, InvenSense, ST and maybe others are releasing 9-dof AHRS platforms containing their own fusion software and outputting filtered/sane/fused data (attitude as quaternion and linear ...
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UKF - sigma point creation - Mirroring the chol matrices

maybe this is a stupid question but i came across a problem with my ukf implementation. I use chol() in matlab for my sigma point creation instead of the normal square root of my covariance matrix. Do ...
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UKF - Correction Step [SLAM] - Only compute the sigma point of the vehicle pose and the specific landmark that got spotted?

i want to implement an UKF Filter for SLAM but i cant seem to wrap around the update step. When computing the innovation matrices and everything, do i need to compute the sigma points in respect to ...
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How is IMU noise dealt with between steps?

Direct integration of IMU will result in massive error incredibly quickly. What I am wondering is, how do you use an IMU over a small time intervals to aid in pose estimation? In particular, suppose ...
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Fusing cross-correlated measurements for mobile robot's localization using unscented kalman filter (ukf)

I'm currently working on a mobile robot's indoor localization. On the perception side, I can only rely on a 2D lidar and wheel odometry. I have used these sources as input of different localization's ...
311 views

IMU + GPS fusion and change of reference frame

I started working with GPS + IMU fusion using Kalman Filter. For this, I'm using Python, with Madgwick filter from a library (https://github.com/morgil/madgwick_py) and Kalman filter also from an ...
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I'm interested in quadcopter position tracking using a mix of IMU and visual navigation. I want to implement an EKF filter but what's not clear to me is how the filter would be updated using the ...
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IMU Vision Fusion using EKF

I am trying to track an object indoors using an IMU (only accel and gyroscope) and a visual marker. This is similar to IMU+GPS fusion, where GPS is effectively replaced by the position that my vision ...
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Bias correction for multiple sensor fusion through Kalman Filtering

I am learning Kalman Filters and was working on a simple example: Temperature measurement of a room by using 4 thermometers(different biases and noises) if i consider that there is no bias in the ...
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Difference between observed errors and this error matrix in kalman filter?

I have been watching this video series to try to understand the kalman filter. The instructor has this layout explaining the process. What I don't understand is the difference in the error matrix <...
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EKF landmark-based help needed

I am new in localization algorithms and EKF is new for me as well. I think that I implemented EKF (the whole code of class is here. I have problems in updating bearing angle of the robot. Basically I ...
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Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
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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 ...
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How do I set the weights of an Unscented Kalman Filter?

In most of the papers I have read, calculation of weights is done by the following formula: Where L is the dimensionality of my state and lambda is calculated by: And the usual values for alpha, ...
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Standard Kalman Filter applied to non-Gaussian noise data

A Kalman-Filter could be applied to sensor-readings in order to smooth them. The Kalman-Filter, however, assumes Gaussian distributed sensor-noise with zero-mean. Now, I found that my sensor-noise ...