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Ethzasl-msf: A EKF based modular-sensor fusion framework

This package contains a sensor fusion framework based on an Extended Kalman Filter (EKF) for 6DOF pose estimation including intrinsic and extrinsic sensor calibration.

API

The API is documented here: http://ethz-asl.github.io/ethzasl_msf

Tutorials

http://wiki.ros.org/ethzasl_sensor_fusion/Tutorials/Introductory%20Tutorial%20for%20Multi-Sensor%20Fusion%20Framework

References

This paper gives a high-level overview: 2013_IROS_lynen_modular_sensor_fusion

The error state representation follows the derivations in this paper of Stephan Weiss.

If you use this software in a scientific publication, please cite the following paper:

@INPROCEEDINGS{lynen13robust,
   Author = {S Lynen and M Achtelik and S Weiss and M Chli and R Siegwart},
   Title = {A Robust and Modular Multi-Sensor Fusion Approach Applied to MAV Navigation},
   Booktitle = {Proc. of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS)},
   Year = {2013}
}