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Shows implementation of KF based sensor fusion of gyro, accel and camera measurements.
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LICENSE
README.md
SF_Accel_Gyro.m
SF_Accel_Gyro_Live.m
apply_image_update.m
apply_small_rotation.m
draw_rotating_cube.m
init_sensor_model.m
init_simulator.m
interpolate_quat.m
make_skew_symmetric_3.m
make_skew_symmetric_4.m
process_accel_measurement_update.m
process_accel_measurement_update2.m
process_image_measurement_update.m
quatmul.m
show_image_residuals.m
show_running_plot.m
sim_camera_tick.m
sim_gyro.m
sim_gyro2.m
sim_gyro3.m
sim_imu_tick.m
update_state.m
verify_dcm_derivative.m

README.md

SensorFusion_KF

Implementation of KF based sensor fusion of gyro, accel and camera measurements. Refer to these blog posts for more detail:

http://www.telesens.co/2017/05/07/sensor-fusion-part-4/

http://www.telesens.co/2017/05/02/sensor-fusion-part-3-implementation-of-gyro-accel-sensor-fusion/

http://www.telesens.co/2017/04/30/sensor-fusion-part-2-combining-gyro-accel-data/

http://www.telesens.co/2017/04/27/sensor-fusion-part-1/

The main file to run is sim_gyro3.m. You may need Robotics and other toolkits for some Matlab functions.

I'm not actively working on sensor fusion anymore, so I won't be able to provide any support for this code.

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