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Is it possible to use the linear velocity from an optical flow sensors along with IMU data (sensor fusion) in the ekf_localization package? If so, how?

asked 2015-10-03 13:45:01 -0500

ros_geller gravatar image

updated 2015-10-03 13:46:09 -0500


I am using the px4flow optical flow camera module with pixhawk. It outputs linear velocity, i would like to use this somehow in the extended kalman filter in ros. The inputs to the robot_pose_ekf are odometry for 2d position, 3d orientation and 6d visual odometry for both 3d position and 3d orientation.

Is it possible to use this package for linear velocity also, or would i have to integrate the data and use the position instead? And ofcourse, if it is possible, how would i got about doing this?


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answered 2015-10-06 02:39:50 -0500

ros_geller gravatar image

Figured it out. There also is a kalman filter package that, called robot_localization, that allows you to add any number of sensors that you would like. It neither restricts your odometry input to 2D (wheel odometry). It also gives you the choice between an extended kalman filter or an unscented kalman filter.

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Asked: 2015-10-03 13:45:01 -0500

Seen: 685 times

Last updated: Oct 06 '15