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What is the measurement and motion model being used?

asked 2016-10-11 09:24:58 -0500

karthik_ros gravatar image

Hi guys

I am new to ROS/localization. I am trying to understand what is the exact measurement model and the motion model that is being used by robot_localization package. Is there any documentation on that. Also, wouldnt the measurement model be different for each type of measurement like IMU or Wheel odometry etc.

Thanks karthik

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answered 2016-10-12 17:45:25 -0500

Tom Moore gravatar image

See this answer for the kinematic model:

The input message types that the EKF and UKF accept contain direct measurements of state variables, i.e., there is no function to transform between state and measurement space. The messages contain body-frame velocities (or accelerations, for IMU data) and world-frame pose data. As such, I don't use explicit measurement models. I do use the H matrix to control which state variables are applied, however.

I plan on adding more kinematic models, including a 2D model and a model that incorporates sensor bias estimation.

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Asked: 2016-10-11 09:24:58 -0500

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Last updated: Oct 12 '16