RossHartley / invariant-ekf

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.
BSD 3-Clause "New" or "Revised" License
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Adding lidar measurements in the contact-aided inEKF? #15

Closed ylenianistico closed 2 months ago

ylenianistico commented 3 months ago

Hi, thanks a lot for this code. I am working on a multisensor state estimator for quadruped robots, and I would like to use your inEKF as a benchmark. Still, I need to add lidar measurements (position and rotation), to correct the state together with the kinematics measurements.

I'm currently defining the measurement vector as y=[y_leg, y_lid_transf], where y_lid_transf includes information on lidar rotation and position. I am not sure if this strategy will work because I'm still not obtaining good improvements, so if you have any suggestions, I will be very grateful.