A while ago I had written about IMU pre-integration (blog-link). Particularly, I had played around with the inertial measurements data (IMU data) and tried to dig a bit deeper on what exactly does the IMU measurements mean. So the conclusion was that the IMU measure the body frame angular velocity and body-frame angular velocity (and … Continue reading Spatial Angular Velocity vs Body Frame Angular Velocity
Tag: imu
IMU Preintegration Theory
A while ago, I had explored the theory of IMU preintegration in the context of sensor fusion using a factor graph. The basic concept is that to use imu measurement as between factors for optimization we need to know the previous state. This is not convenient, however, a mathematical trick helps us make the between … Continue reading IMU Preintegration Theory
Sensor Fusion: Extended Kalman Filter (EKF)
Overview In this post I am going to briefly tell you about Kalman filter and one of its extensions to non-linear cases, ie. the Extended Kalman Filter (EKF). I will give a concrete example from Robotics on sensor fusion of IMU measurements and Odometry estimates from other SLAM algorithm. In robotics literature, this is referred … Continue reading Sensor Fusion: Extended Kalman Filter (EKF)
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