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what are the states and transistion matrices used in the robot_pose_ekf stack

asked 2012-07-15 22:27:59 -0600

sethu chidam gravatar image

updated 2012-07-15 22:29:11 -0600

Does anyone know what state vector, inputs, transistion matrix and measurement matrix is used with the robot_pose_ekf package?

The package fuses data from odometry, IMU and vo. how does this implement the ekf?I've read that you do a prediction step and then a correction step. During which step is each of the data used?

I'm trying to modify the code to incorporate a gyro, but am unable to understand the code.

Thanks!

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answered 2012-08-31 10:56:37 -0600

jbohren gravatar image
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answered 2012-07-31 21:28:59 -0600

updated 2012-09-03 23:41:12 -0600

To know how works the library that implements EKF you can check out its documentation in www.orocos.org/bfl. There you will get a better idea about the models used, hence understand better the code.

Maybe learn how EKF works before reading about BFL or trying to modify the code may be useful :)

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Asked: 2012-07-15 22:27:59 -0600

Seen: 404 times

Last updated: Sep 03 '12