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Why did you use EKF? #1

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BaiCai1990 opened this issue May 23, 2018 · 4 comments
Open

Why did you use EKF? #1

BaiCai1990 opened this issue May 23, 2018 · 4 comments

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@BaiCai1990
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预测值根据里程或者IMU就可以拿到,为何要使用EKF呢? 想得到一个比较精确的初值吗?
@uestclab
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Owner

ekf用来predict和measure ， 来回滤波

@gary-robotics
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李师兄，您的这个代码需要修改哪部分，才可以正确运行呢，修改基本的加载地图以及分辨率后直接运行好像不行呢，希望师兄可以指点一下

@uestclab
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太久了，我也忘了还需要依赖什么才能运行，里面原理很简单，应该其他地方也有

@gary-robotics
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我运行的时候,ekf感觉没起到作用?用EKF预测和观测之后估计出来的值有点问题,然后查看了一下pre_odom与cur_odom的值基本上都是一样的,所以delta_odom一直为0.尝试了把这块儿代码放到其他位置,感觉也不太行?

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3 participants
@gary-robotics @uestclab @BaiCai1990