orientation_tracking-unscented_kalman_filter
所属分类：matlab编程
开发工具：matlab
文件大小：0KB
下载次数：2
上传日期：2018-03-24 07:25:06
上 传 者：
sh-1993
说明： 实现了用于方位跟踪的无中心卡尔曼滤波器（UKF）。加速度计和陀螺仪的传感器融合
(Implemented Unscented Kalman Filter (UKF) for orientation tracking. Sensors fusion of accelerometer, and gyroscope)
文件列表:
img_stitching.jpg (201996, 2018-03-24)
report/ (0, 2018-03-24)
report/ese650proj2_luyiren.pdf (2717074, 2018-03-24)
report/images/ (0, 2018-03-24)
report/images/Fuse_100.png (165472, 2018-03-24)
report/images/Fuse_image_stitching_100.png (952667, 2018-03-24)
report/images/UKF_100.png (163450, 2018-03-24)
report/images/naive_approach_100.png (164789, 2018-03-24)
report/images/naive_approach_4.png (186286, 2018-03-24)
report/images/naive_approach_8.png (156943, 2018-03-24)
report/images/pano2.jpg (111538, 2018-03-24)
report/images/pano8.png (669044, 2018-03-24)
report/images/pano_test.png (952667, 2018-03-24)
report/naive_approach_8.png (156943, 2018-03-24)
report/proj2.fdb_latexmk (9544, 2018-03-24)
report/proj2.fls (8411, 2018-03-24)
report/proj2.tex (9365, 2018-03-24)
submission/ (0, 2018-03-24)
submission/acc_data.m (1030, 2018-03-24)
submission/gyro_data.m (1121, 2018-03-24)
submission/kalman_filter.m (866, 2018-03-24)
submission/quat/ (0, 2018-03-24)
submission/quat/quat2angle.m (7980, 2018-03-24)
submission/quat/quat2dcm.m (1537, 2018-03-24)
submission/quat/quat2euler.m (1399, 2018-03-24)
submission/quat/quat2matrix.m (455, 2018-03-24)
submission/quat/quatconj.m (805, 2018-03-24)
submission/quat/quatdivide.m (984, 2018-03-24)
submission/quat/quatinv.m (653, 2018-03-24)
submission/quat/quatmod.m (821, 2018-03-24)
submission/quat/quatmultiply.m (2219, 2018-03-24)
submission/quat/quatnorm.m (842, 2018-03-24)
submission/quat/quatnormalize.m (663, 2018-03-24)
submission/quat/quatrotate.m (1766, 2018-03-24)
submission/run_code_deprecated.m (5015, 2018-03-24)
submission/run_code_ukf7.m (3626, 2018-03-24)
submission/ukf_4.m (3189, 2018-03-24)
... ...
## Unscented Kalman Filter for Orientation Tracking
UPenn ESE 650 Learning in Robotics, Project 2: Unscented Kalman Filter for Orientation Tracking and Image Panoramic Stitching
Implemeted Unscented Kalman Filter (UKF) following paper:
- Edgar Kraft, A quaternion-based unscented kalman filter for orientation tracking. Information Fusion, 2003. Proceedings of the Sixth International Conference on Information Fusion, Vol. 1 (2003), pp. 47-54.
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- Project description: [report/ese650proj2_luyiren.pdf](https://github.com/yrlu/orientation_tracking-unscented_kalman_filter/blob/master/report/ese650proj2_luyiren.pdf)
- Code demo: `./submission/run_code_ukf7.m`
- Panoramic image stitching video:
[](https://github.com/yrlu/orientation_tracking-unscented_kalman_filter/blob/master/https://www.youtube.com/watch?v=c10qWCd7E4U "image stitching")
- Another ukf implementation can be found [here](https://github.com/yrlu/orientation_tracking-unscented_kalman_filter/blob/master/https://github.com/stormmax/vision-based_estimations)
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