Ask Your Question
0

robot_localization: How are the sensor measurements being fused?

asked 2017-08-31 16:12:50 -0500

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.

edit retag flag offensive close merge delete

Comments

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 site:answers.ros.org to your query text.

gvdhoorn gravatar image gvdhoorn  ( 2017-09-01 01:00:01 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-09-01 01:01:46 -0500

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.

edit flag offensive delete link more

Comments

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 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2017-08-31 16:12:50 -0500

Seen: 126 times

Last updated: Sep 01 '17