ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

Pure sensor fusion for estimating state

asked 2016-10-09 02:11:08 -0600

karthik_ros gravatar image

Hi

I am new to ROS and am I was wondering if I can use robot_localization (the ekf) just for fusing two sensor data namely IMU and Wheel odometry and estimate state from that without using any motion model. Also how would this compare to the case where the state is estimated based on an internal motion model and one sensor data.

Thanks

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2016-10-12 17:48:14 -0600

Tom Moore gravatar image

There's no support for just fusing measurements without a prediction step, no. If you want to limit the effects of the kinematic model, you can fuse absolute pose variables instead of velocities. Your prediction step will be slightly wrong, but then the correction step will pull the state estimate closer to your measurements.

edit flag offensive delete link more

Question Tools

Stats

Asked: 2016-10-09 02:11:08 -0600

Seen: 195 times

Last updated: Oct 12 '16