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What kind of Kalman Filter does Apollo use for multi-sensor fusion? #10957

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songyuc opened this issue Apr 6, 2020 · 7 comments
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What kind of Kalman Filter does Apollo use for multi-sensor fusion? #10957

songyuc opened this issue Apr 6, 2020 · 7 comments

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@songyuc
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songyuc commented Apr 6, 2020

Hi, guys,
I want to know What kind of Kalman Filter Apollo use for multi-sensor fusion?
Is it Unscented Kalman Filter (UKF)?
Your answer or idea will be appreciated!
@szykp
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szykp commented Apr 6, 2020

不是UKF，EKF

@songyuc
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songyuc commented Apr 6, 2020

@szykp ,哦哦，你说Apollo里面用的是EKF吗？

@szykp
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szykp commented Apr 6, 2020

是的

@songyuc
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songyuc commented Apr 6, 2020

@szykp ,谢谢你的回复；
还想请问一下，这个函数的接口具体是哪一个，你知道吗？

@szykp
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szykp commented Apr 6, 2020 •
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modules\perception\fusion\common

@songyuc
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songyuc commented Apr 7, 2020

@szykp ,感谢你的解答！

@songyuc
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songyuc commented Apr 8, 2020

@szykp ，请问一下，您是Apollo的开发者吗？

@unacao unacao closed this as completed Jun 18, 2020
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3 participants
@szykp @unacao @songyuc