Filtering Visual Odometry and IMU/GPS data
Hello,
during the past months I have been working on gettings results from a stereo-cam system using ROS-package viso2_ros in a moving vehicle. So far so good, the egomotion estimation from visual odometry really works well as can be seen here:
https://docs.google.com/document/d/1l...
I now have wheel_odometry, visual_odometry, IMU and GPS-data in ASCII-files ready to be processed and filtered (also have a reference trajectory giving the "true" position). Here is the data:
https://drive.google.com/file/d/0B1b1...
I can filter all the data with the package "robot_pose_ekf". The disadvantage is that the package uses the orientation from the IMU rather than angular rates and acceleration. This orientation is drifting and not accurate.
I was wondering if you could give me tips how to build a filter which fuses all the described data. If possible the design of the filter should not be that complicated since I donot have that much knowledge about EKFs. Also any good literature recommendation is appreciated.
Hector
Hi I am also using viso2_ros inside gazebo to get stereo visual odometry. I am facing issues with translation estimates. When my robot is standstill, even then there is some forward motion estimate given by the package. Did you ever face these issues ? Thanks