Questions tagged [sensor-fusion]
Sensor fusion is a process by which data from several different sensors are "fused" to compute something more than could be determined by any one sensor alone.
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How to fuse linear and angular data from sensors?
My team and I are setting up an outdoor robot that has encoders, a commercial-grade IMU, and GPS sensor. The robot has a basic tank drive, so the encoders sufficiently supply ticks from the left and ...
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Open source implementations for GPS+IMU sensor fusion?
Are there any Open source implementations of GPS+IMU sensor fusion (loosely coupled; i.e. using GPS module output and 9 degree of freedom IMU sensors)? -- kalman filtering based or otherwise.
I did ...
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How can we use the accelerometer for altitude estimation?
I am currently implementing an autonomous quadcopter which I recently got flying and which was stable, but is unable to correct itself in the presence of significant external disturbances. I assume ...
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Angle Random Walk vs. Rate Noise Density (MPU6050)
I’ve made a datalog from a MPU6050 (IMU: gyroscope and accelerometer) at 500Hz sample rate. Now I want to calculate the characteristics from the gyro to evaluate the sensor.
For the gyro I’ve found ...
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Accelerometer, gyro, and magnetometer sensor fusion in 2d
I have not yet built this so this is basically a theoretical question. I am still wrestling with some C code to manage i2c ...
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Multiple position estimates fusion
I have a system in which I have two separate subsystems for estimating robot positions.
First subsystem is composed of 3 cameras which are used for detecting markers the robot is carrying and which ...
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How to localise a underwater robot?
I am building an autonomous underwater robot. It will be used in swimming pools. It should be capable of running in any normal sized pool, not just the pool in which I test. So I cannot rely on a ...
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How to track robot position?
I'm a software researcher, who in my spare time mentors a robotics team, helping on the software side of things. For years, I keep coming back to the same question: How to determine the robots ...
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information filter instead of kalman filter approach
I read many sources about kalman filter, yet no about the other approach to filtering, where canonical parametrization instead of moments parametrization is used.
What is the difference?
Other ...
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object level sensor fusion for multiobject tracking
I want to fuse objects coming from several sensors, with different (sometimes overlapping!) fields of view. Having object lists, how can I determine whether some objects observed by different sensors ...
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Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data
I'm trying to develop an Extended Kalman Filter (EKF) for the positioning of a wheeled vehicle. I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. On the 2 rear wheels I have an ...
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Quadcopter Position Measurement (Accelerometer, GPS or Both)?
I previously thought that an accelerometer on a quadcopter is used to find the position by integrating the data got from it. After I read a lot and watched this Youtube video (specifically at time 23:...
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Simple Sensor Fusion for pose estimation
I am currently working on a balancing robot project, which features fairly low-cost sensors such as an 9-Dof IMU with the measurement states
$\textbf{x}_\text{IMU} = \left[a_x, a_y, a_z, g_x, g_y, ...
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Overcorrecting Kalman Filter
I'm trying to get an extended Kalman Filter to work. My System Model is:
$ x = \begin{bmatrix}
lat \\
long \\
\theta
\end{bmatrix}$
where lat and long are latitude and longitude (in degree) and $\...
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Solution for INS and GPS integration
I have a GPS module and an IMU (gyro, accelerometer and magnetometer) and I need to build an autonomous navigation system for a quadcopter. It must know its position at any time so that it can track a ...
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Yaw drift when implementing AHRS filter fusion
I am using the Matlab AHRS filter fusion algorithm with an InvenSense ICM-20948 to determine object orientation. I seem to be obtaining reasonable results however I am getting what appears to be ...
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How do timings affect input, sensor fusion, and output?
I'm programming a quadcopter controller. I've managed to make it fly. But, I'm not sure how to set up the timings schedule for each part of the software.
I have several sensors (gyro, accelerometer, ...
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Marginalization in Graph SLAM [duplicate]
I have several questions about the process of marginalization in SLAM algorithms:
0 - What are the mathematic intuition behind marginalization process
1 - I know marginalization of states or points ...
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Can I use IMUs to improve the position/posture measurement of fingers in a "data glove"?
I have been using the Cyberglove to control a humanoid robot hand, but found it disappointing as it doesn't measure the posture of the human hand very accurately.
I have been wondering about the ...
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Is it possible to track position using gyroscope and accelerometer without a magnetometer?
I'm looking for help on a project where I will be placing sensor data in 3D space using augmented reality. Most solutions I have found for finding position with an IMU involve the magnetometer, but ...
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quaternion implementation
I am trying to implement quaternions and i am using CC2650 sensortag board from TI. This board has MPU9250 from invensense which has Digital Motion Processor (DMP) in it. This DMP gives quaternion, ...
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Controlling a system with delayed measurements
Assume I have a rather simple system I want to control, but all sensor measurements exhibit considerable time delay, i.e.:
$z_t = h(x_{(t-d)}) \neq h(x_t)$
With my limited knowledge about control, ...
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Are there off the shelf solutions for GPS+INS (accelerometer,gyro,magneto) sensor fusion for getting filtered/fused location and speed output?
I am working on a project that needs tracking location and speed of pedestrians/runners/athletes (so not really robotics, but I see a lot of related usage and posts in the robotics domain, and an ...
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How to fuse IMU with encoders in EKF
Background
I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
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Implementing ESKF
I'm currently struggling with implementing the Multiplicative Kalman Filter or Error State Kalman Filter as described by Landis Markley in Attitude Error Representations for Kalman Filtering. Sadly ...
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How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?
I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
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Association of multiple measurements to multiple objects
I have a matrix of M measurements and N objects. Each cell contains a cost of assignment a particular measurement to the object. I want to assign them optimally. As the condition, only one measurement ...
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How to periodically estimate states of a LTI if the output is measured irregularly?
How can I periodically estimate the states of a discrete linear time-invariant system in the form $$\dot{\vec{x}}=\textbf{A}\vec{x}+\textbf{B}\vec{u}$$
$$\vec{y}=\textbf{C}\vec{x}+\textbf{D}\vec{u} $$...
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Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?
I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data.
The algorithm is based on a space-time finite element where the ...
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Merging multiple LIDARs real time
Is there a standard practice for merging the pointclouds generated by several LIDARs when there is overlap?
For example, if my vehicle has two LIDARS (front and back) I'd rather fuse and deal with a ...
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What would be a way to estimate IMU noise covariance matrix?
Weirdly enough, my robot platform which has an official ROS package supported by a manufacturer doesn't provide any covariance matrices of its sensors. So, I'm basically trying to estimate these ...
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Robot positioning using IMU quaternion data?
I want to use a MPU9150 to give me the position (XY) and heading (angle) of a wheeled robot. This MPU9150 from invensense has a Digital Motion Processor in it which can give me a quaternion.
But how ...
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Is there an advantage to multiple magnetometers for heading computation
I'm building an autonomous sail boat (ripped out the guts of an RC sail boat and replaced with my own mainboard etc.)
The controller board I have can accommodate both an MPU9150 and an HMC5883. Is ...
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GPS+IMU sensor fusion not based on Kalman Filters
Do you know any papers on or implementations of GPS + IMU sensor fusion for localization that are not based on an EKF (Extended Kalman Filter) or UKF (Unscented Kalman Filter)?
I'm asking is because
...
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how to calibrate gyroscope using raw gyro data?
I wrote a simple code for where I take 500 samples with stationary gyro and subtract those offset values to get calibrated gyro data.
Question:
Is this much calibration enough to implement this gyro ...
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Fusing Multiple Lidars Into 1 Point Cloud
I have a car with 8 lidars, each with a field of view of 60 degrees. My car looks like this
How can I merge all the lidar readings into 1 point cloud?
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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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Calibrating a laser scanner to a line camera
We have a high-resolution Riegl laser scanner and mounted atop it a Resonon Pika L, which is a hyperspectral camera which records one spatial column at a time, using the second dimension of the sensor ...
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P gain tuning for quadcopter (Is my perception for a P-gain too high correct?)
Good day,
I am currently working on a project using Complementary filter for Sensor fusion and PID algorithm for motor control. I viewed a lot of videos in youtube as well as consulted various blogs ...
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Overview - what skills are needed for sensor fusion?
I want to make a list of what knowledge is necessary for sensor fusion. Since it has a wide array of possible applications, it is not clear where to begin studying. Can we please verify add topics ...
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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,
\dot{x},
\dot{y},
\ddot{x},
\ddot{y}
...
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How to handle sensor data for a sensor-fusion algorithm
I am implementing the explicit complementary filter(see below) with a 9DOF MEMS sensors (accelerometer, magnetometer and gyroscope) for attitude estimation.
Currently, the gyro and accel update rates ...
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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&...
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Correcting GPS track with visual odometry (sensor fusion)
I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or ...
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Passive ego-motion estimation vs active
I am doing research of ego-motion estimation and positioning in 6DoF space. And I found that apparently all systems are based on active RGB-D sensors, like Kinect. I understand, that such sensors ...
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Balancing a plate with an IMU offset from the center
I recently bought a IMU . I am new at this.
My question: Does the positioning of the IMU matter? Are there any differences between placing it at the center of the plate or if it is offset from the ...
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How to deal with asynchronous samples in a kalman filter framework multi-sensor fusion?
I have setup a sensor fusion problem to estimate a classical 2d position + orientation of a wheeled mobile robot in an embedded environment.
Sensor measurements include:
IMU (6axis accl+gyro) @ 40Hz
...
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Will there be any interference when distance sensors facing each other?
I'm working a robot racing project using small RC toy cars on a premade track and a main goal for the robots to do is to be able to avoid hitting the wall and the racing opponents. Avoiding wall is no ...
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How to use knowledge of sensor noise
Reasoning about the meaning of uncertainty of sensor measurement I ran into a doubt:
(1) When we talk about sensor uncertainty, we often model it as a Gaussian distribution $\mathcal{N}(\boldsymbol{z},...
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GPS Course vs IMU Course
Im currently working with Kalman Filter for position and velocity, one of the important parameters that im using is the heading that the sensor fusion of the imu gives me, but i have seen that the GPS ...
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