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Summarize the notation and the factors for KinDynVIO:Multi-modal sensor fusion for humanoid state estimation #2

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prashanthr05 opened this issue Jul 2, 2020 · 2 comments
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Summarize the notation and the factors for KinDynVIO:Multi-modal sensor fusion for humanoid state estimation #2

prashanthr05 opened this issue Jul 2, 2020 · 2 comments
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prashanthr05 commented Jul 2, 2020 •
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A few keywords include,

  • Multi-Threaded sensor fusion
  • Maximum A Posterior Inference using non-linear optimization through GTSAM iSAM2 solver
  • Pre-integrated IMU factors
  • Pre-integrated Legged Odometry factors
  • Pre-inegrated contact forces factors using centroidal dynamics
  • RGB points and line factors (reprojection error factors)
  • PCL based plane factors
  • ICP odometry factor using Realsense Point clouds
@prashanthr05 prashanthr05 self-assigned this Jul 2, 2020
@prashanthr05 prashanthr05 changed the title Write down the required math for implementation Summarize the notation and the factors for KinDynFusion or Multi-modal sensor fusion for humanoid state estimation Jul 13, 2021
@prashanthr05 prashanthr05 changed the title Summarize the notation and the factors for KinDynFusion or Multi-modal sensor fusion for humanoid state estimation Summarize the notation and the factors for KinDynVIO or Multi-modal sensor fusion for humanoid state estimation Jul 19, 2021
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prashanthr05 commented Jul 23, 2021 •
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Inspired from VILENS, a rough sketch of the architecture is shown in the image (block diagram is WIP to be updated),

diagram-20210723 (1)

@prashanthr05 prashanthr05 changed the title Summarize the notation and the factors for KinDynVIO or Multi-modal sensor fusion for humanoid state estimation Summarize the notation and the factors for KinDynVIO:Multi-modal sensor fusion for humanoid state estimation Jul 26, 2021
@prashanthr05 prashanthr05 mentioned this issue Aug 20, 2021
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@GiulioRomualdi
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cc @GiulioRomualdi

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