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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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Resources for UKF #7

Closed CtfChan closed 5 years ago

CtfChan commented 5 years ago

Hi Kiode3, thanks for this wonderful ROS package. I am a student looking to learn more about the fundamentals of the UKF you implemented. Is there a particular paper that details your implementation?

koide3 commented 5 years ago

Hi @CtfChan , If you meant the UKF itself, the following documents would be helpful: https://www.seas.harvard.edu/courses/cs281/papers/unscented.pdf https://www.cse.sc.edu/~terejanu/files/tutorialUKF.pdf https://en.wikipedia.org/wiki/Kalman_filter#Unscented_Kalman_filter

If you are interested in the UKF-based pose estimation, please send a mail to koide@dei.unipd.it from your official mail address. Since the paper is still under review, we have not made it public yet...

CtfChan commented 5 years ago

cheers thanks man :) I'll take a look