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ethz-asl / ethzasl_sensor_fusion

time delay single and multi sensor fusion framework based on an EKF
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Localization with Respect to an Object #50

Open mzahana opened 5 years ago

mzahana commented 5 years ago

Hello @stephanweiss

I am trying to localize a moving depth camera with respect to a static object. The depth camera (Intel D435i) provides a point cloud which is used to detect and localize the static object. Sometimes there is false detection which leads to false localization. So, I'd like to use the IMU that is also embedded in the depth camera to predict where the static object would be w.r.t the moving depth camera in order to reduce the false detection.

So, I was wondering if it is possible to use this sensor fusion framework to do this task.

Any advice is appreciated.

Thanks.

mzahana commented 5 years ago

I was able to localize the depth camera with IMU (D435i) with respect of the static object of interest. I assumed that the world coordinate frame is attached to the object. I used the pose_sensor example in ssf_update with no modifications. I just adjusted the parameters in the corresponding yaml file.

Now the issue is the that the position estimate is always offset from the actual one, but not significantly. I am suspecting that the p_ci and q_ci (which I did not adjust as I don't know them yet) could be one reason. Are there any other possible reasons?

Thanks.