Open henryouly opened 2 years ago
It seems Kalman filter can be only applied to vectors, not quaternions.
There’s a discussion thread here: https://math.stackexchange.com/questions/2621677/extended-kalman-filter-equation-for-orientation-quaternion
There’s a paper to apply that to quaternion-based orientation tracking: https://kodlab.seas.upenn.edu/uploads/Arun/UKFpaper.pdf
We need to filter the rotation vector from SolvePnP to reduce subtle movement. When using webcam, the movement looks more verbose.