robot_pose_ekf

最新推荐文章于 2024-12-10 13:58:45 发布

llz56

最新推荐文章于 2024-12-10 13:58:45 发布

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分类专栏：传感器融合 ROS

原文链接：https://github.com/ros-planning/navigation

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Robot Pose EKF包可基于不同来源的（部分）姿态测量值，估计机器人的3D姿态。它采用6D模型的扩展卡尔曼滤波器，结合轮式里程计、IMU传感器和视觉里程计的测量值，以ROS消息接收传感器信号，实现与不同传感器的松散耦合集成。

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The Robot Pose EKF package is used to estimate the 3D pose of a robot, based on (partial) pose measurements coming from different sources. It uses an extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel odometry, IMU sensor and visual odometry. The basic idea is to offer loosely coupled integration with different sensors, where sensor signals are received as ROS messages.
http://wiki.ros.org/robot_pose_ekf
https://github.com/ros-planning/navigation