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Pose from IMU measurements

asked 2017-07-19 17:32:30 -0500

shree gravatar image

How does robot_localization use the IMU data to update the EKF/UKF in their sensor fusion algorithm ? Robot pose can be obtained from IMU data using multiple techniques, and I am curious which one robot_localization package uses.

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answered 2017-07-20 02:00:59 -0500

gvdhoorn gravatar image

The robot_localization documentation (linked from the wiki page) contains a section Other Resources that links to a ROSCon15 presentation (video) and a paper: A Generalized Extended Kalman Filter Implementation for the Robot Operating System (doi).

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Asked: 2017-07-19 17:32:30 -0500

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Last updated: Jul 20 '17