ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Fri, 18 Sep 2015 09:07:26 -0500Multimodal landmarks for EKFhttps://answers.ros.org/question/215973/multimodal-landmarks-for-ekf/I am trying to do a robot localization using visual landmarks that are not so robust, which means that at each observed landmark, there is a not so small probability that it could be any of two or three similar landmarks that were observed at different places in my map. This could result in eventual jumps in the robot's estimated pose (similar to AMCL). The theorz says that Kalman filter provide an optimal solution when the observations are unimodal, but in practice can a localization based on this kind of data combined with odometry and using an extended Kalman filter still work?
Mon, 17 Aug 2015 05:04:47 -0500https://answers.ros.org/question/215973/multimodal-landmarks-for-ekf/Answer by Punith for <p>I am trying to do a robot localization using visual landmarks that are not so robust, which means that at each observed landmark, there is a not so small probability that it could be any of two or three similar landmarks that were observed at different places in my map. This could result in eventual jumps in the robot's estimated pose (similar to AMCL). The theorz says that Kalman filter provide an optimal solution when the observations are unimodal, but in practice can a localization based on this kind of data combined with odometry and using an extended Kalman filter still work?</p>
https://answers.ros.org/question/215973/multimodal-landmarks-for-ekf/?answer=217848#post-id-217848Hi Mehdi,
Any luck with multi-model landmarks fusion using ekf localization?
Regards,
PunithFri, 18 Sep 2015 09:07:26 -0500https://answers.ros.org/question/215973/multimodal-landmarks-for-ekf/?answer=217848#post-id-217848