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

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

5

Unscented Kalman Filtering?

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

Andrew Chambers
96 ●3 ●4 ●9

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

Comments

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 ( 2011-12-21 11:40:09 -0500 )edit

1 Answer

Sort by » oldest newest most voted

4

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

flag of United States of America

2952 ●50 ●76 ●113 http://walchko.github.io/

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

Question Tools

2 followers

Stats

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

Seen: 7,126 times

Last updated: Dec 29 '11

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2