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ShuoYangRobotics / Cerberus

Visual-Inertial-Leg Odometry For Legged Robots
GNU General Public License v3.0
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Position z is increasing #14

Open YapZhenYan opened 1 year ago

YapZhenYan commented 1 year ago

I have plotted the campus bagfile as mentioned. I managed to get the shape when plotting x and y. pos_xy

However, when I plot the z position, it is always increasing. pos_z

ShuoYangRobotics commented 11 months ago

Yes, position Z is not fine-tuned and hard to be estimated correctly. Since we have other height estimation method (barometer), we do not use Cerberus for Z height estimation

YapZhenYan commented 11 months ago

Thank you for the information. 1) Do you have any suggestions on how to improve the z-height estimation for Cerberus? 2) Which file is the z position parameters being used for the state estimation? 3) How is the x and y estimation tuned in Cerberus?