Add outlier filter to LH geo estimation

bitcraze / crazyflie-lib-python

Python library to communicate with Crazyflie

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Add outlier filter to LH geo estimation #356

Closed krichardsson closed 2 years ago

krichardsson commented 2 years ago

This pull request improves the lighthouse geometry estimation. It adds an outlier filter when estimating the initial guess. In some cases (mainly LH1) the initial guess could contain too many outliers, causing the refinement step to never converge.

knmcguire commented 2 years ago

flight tested with the cfclient. all looks good