Summarize the notation and the factors for KinDynVIO:Multi-modal sensor fusion for humanoid state estimation

ami-iit / kindyn-vio

Development on hold.

BSD 3-Clause "New" or "Revised" License

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Open prashanthr05 opened 4 years ago

prashanthr05 commented 4 years ago

A few keywords include,

Multi-Threaded sensor fusion
Maximum A Posterior Inference using non-linear optimization through GTSAM iSAM2 solver
Pre-integrated IMU factors
Pre-integrated Legged Odometry factors
Pre-inegrated contact forces factors using centroidal dynamics
RGB points and line factors (reprojection error factors)
PCL based plane factors
ICP odometry factor using Realsense Point clouds

prashanthr05 commented 3 years ago

Inspired from VILENS, a rough sketch of the architecture is shown in the image (block diagram is WIP to be updated),

diagram-20210723 (1)

GiulioRomualdi commented 1 year ago

cc @GiulioRomualdi