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robot_localization: How are the sensor measurements being fused?

asked 2017-08-31 16:12:50 -0600

gandhigauri gravatar image

I was working with the robot_localization package for fusing encoder/IMU/GPS measurements. I wanted to know does the filter fuse the measurements in time? Is it a loosely-coupled fusion? It would be helpful if someone can explain the underlying algorithm for taking in the measurements for correction.

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ROS Answers has a lot of earlier questions about robot_localization. Have you tried taking a look at those and see whether they answer your questions? Using Google works best. Add to your query text.

gvdhoorn gravatar image gvdhoorn  ( 2017-09-01 01:00:01 -0600 )edit

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answered 2017-09-01 01:01:46 -0600

gvdhoorn gravatar image

Take a look at the documentation. That has a global overview of how things work, a link to the ROSCon15 talk by Tom and a reference to a paper describing the component.

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Thanks. I actually wanted some clarity/confirmation whether any sort of coupling happens between the measurements and their covariances before they are used for correction in the filter?

gandhigauri gravatar image gandhigauri  ( 2017-09-01 01:49:15 -0600 )edit

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Asked: 2017-08-31 16:12:50 -0600

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Last updated: Sep 01 '17