Open yuan0623 opened 4 years ago
I am also confused about it. Did you (@yuan0623 ) solve this problem? Please update. Thank you.
Apologies for the very delayed response. The covariance matrix was generated by assuming some values of encoder noise and mapping it though the kinematic Jacobian to get the 6x6 matrix.
I did this so the core library does not need the robot-specific kinematic Jacobian.
This was just an example, and I did minimal effort identifying the true encoder noise for Cassie.
Hi, I'm trying to reproduce your results on my own to make sure that I really understand your paper
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation*
. When I look into theKINEMATIC
measurement inimu_kinematic_measurements.txt
, I find it is quite strange. Here is my understanding: instead of measuring the joint encoder of the Cassie, theimu_kinematic_measurements.txt
provides the relative position between the foot and the robot directly, which I can understand. However, Theimu_kinematic_measurements.txt
also provides the covariance matrix, which I really don't understand. Can the covariance matrix be measured? This is really strange to me. I would be really appreciated if you can answer this question for me. Thank you so much in advance for your time! Best Yuan