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What's the mathmatics formula in robot_localization

asked 2017-06-19 20:28:25 -0600

DaDaLee gravatar image

Hi Tom/all: I'm wondering what the mathmatics formula in ekf.cpp file is. It's the core of EKF. But I got confused when looking through those code. Can somebody enlighten it to me? Thank you so much!

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What code are you referring to? Do you have a link?

jayess gravatar imagejayess ( 2017-06-20 15:49:21 -0600 )edit

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answered 2017-06-27 07:47:14 -0600

linusnie gravatar image

updated 2017-06-27 07:55:27 -0600

You can read this paper from the authors of the package. But even there it's a bit unclear what the exact state update is. This question contains some details too.

As I understand it they assume a second order model for all calculations and estimate the velocity+acceleration from measurements, they then use the standard EKF update. But I haven't been able to find details on how these motion model parameters are estimated.

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Asked: 2017-06-19 20:28:25 -0600

Seen: 115 times

Last updated: Jun 27 '17