naveenoid / jointOffsetCalibInertial

Algorithm for calibrating joint offsets using inertial measurements
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Feature/cost function noptimisation #5

Closed nunoguedelha closed 8 years ago

nunoguedelha commented 8 years ago

Cost function for 1st approach is complete. Calibration results converge while using the solver lsqnonlin, algorithm "trust-region-reflective", Tolx = 0.6deg, boundaries = +/-20deg. Converges in 7 iterations. Initial bucket was filtered and down sampled from 3000 to 1000 samples. Optimisation was run on data subsets of 100 samples (randomly selected over the total of 1000 samples).