ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Unscented Kalman Filtering?

asked 2011-12-21 05:14:59 -0500

Andrew Chambers gravatar image

updated 2011-12-21 05:15:41 -0500

I want to use an unscented kalman filter (UKF) in ROS to do state estimation. I can't find any ROS packages that implement an UKF so I've been looking around at filtering libraries for C++ that I could use within ROS. Does anyone have any recommendations? I've found the following libraries but many are poorly documented or inactive. Any suggestions?

UKF support:



No UKF support:

Mobile Robot Programming Toolkit (The main page lists UKFs but the code doesn't appear to implement them)

Orocos Bayesian Filtering Library


edit retag flag offensive close merge delete


Hi Andrew! OpenCV implements Kalman Filter, Extended Kalman Filter (EKF) and is fully integrated with ROS. But I am afraid it doesn't implement UKF (as far as I know).
Martin Peris gravatar image Martin Peris  ( 2011-12-21 11:40:09 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2011-12-29 05:36:05 -0500

Kevin gravatar image

Since you already know you want to do an unscented KF, I assume you understand the mathematics. I would suggest just implementing the math yourself using the matrix/vector capabilities of either OpenCV or Eigen libraries which are already part of ROS.

edit flag offensive delete link more

Question Tools



Asked: 2011-12-21 05:14:59 -0500

Seen: 7,141 times

Last updated: Dec 29 '11