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Unscented Kalman Filtering?

asked 2011-12-21 05:14:59 -0600

Andrew Chambers gravatar image

updated 2011-12-21 05:15:41 -0600

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:

Bayes++

bfilt

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

KFilter

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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 imageMartin Peris ( 2011-12-21 11:40:09 -0600 )edit

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answered 2011-12-29 05:36:05 -0600

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.

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Asked: 2011-12-21 05:14:59 -0600

Seen: 6,565 times

Last updated: Dec 29 '11