For Bath Hack 2024, my team aimed to build a robotic arm and control it using hand gestures. To detect these gestures, we attached an inertial measurement unit (IMU) to a glove. I was tasked with implementing an extended Kalman filter to fuse the data from the accelerometers and gyroscopes in the IMU. This repository showcases my efforts to learn how do this from scratch in those 24 hours.
Salmony, P., 2022. Accelerometers and gyroscopes - sensor fusion #1 - Phil's lab #33 [Online]. Available from: https://youtu.be/RZd6XDx5VXo?si=BBaGahqPsBTgsjGc [Accessed 13 April 2024].
Salmony, P., 2022. Complementary filter - sensor fusion #2 - Phil's lab #34 [Online]. Available from: https://youtu.be/BUW2OdAtzBw?si=ZQlU_zM15-eRMAU9 [Accessed 13 April 2024].
Salmony, P., 2022. Extended Kalman filter - sensor fusion #3 - Phil's lab #37 [Online]. Available from: https://youtu.be/hQUkiC5o0JI?si=KTgNZMPvHNLcL6c7 [Accessed 13 April 2024].
Salmony, P., 2023. Extended Kalman filter software implementation - sensor fusion #4 - Phil's lab #73 [Online]. Available from: https://youtu.be/7HVPjkWOrLE?si=iF1Vd9L0eGM0eyTW [Accessed 13 April 2024].
Becker, C., 2020. Understand & code a Kalman filter [part 1 design] [Online]. Available from: https://youtu.be/TEKPcyBwEH8?si=XSTSQKuVtLo5it6R [Accessed 14 April 2024].
Becker, C., 2020. Understand & code a Kalman filter [part 2, Python] [Online]. Available from: https://youtu.be/m5Bw1m8jJuY?si=7_Dq7eL3nhMkTobQ [Accessed 14 April 2024].
Mielle, M., 2021. IMURPYKalmanFilter.py [Online]. Available from: https://gist.github.com/MalcolmMielle/8e1ef4f0f9ffb15d5a0d9b746c1bc469 [Accessed 13 April 2024].