IMU + X Loose Fusion Localization based on ESKF

• IMU + GPS: 传感器融合：基于ESKF的IMU+GPS数据融合
• IMU + VO: IMU and VO Loose Fusion based on ESKF (Presentation)

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Requirements

• Ubuntu (16.04 or later)
• ROS (kinetic or later)
  • ROS package: nmea_navsat_driver
• GeographicLib 1.50.1 (cmake 3.18.0 tested)
• OpenCV3
• C++14 (for using std::make_unique)

Build

mkdir -p ws_msf/src
cd ws_msf/src
git clone xxx
cd ..
catkin_make -j5 # error happened when using the default cmake 3.5.1, upgrade it

Run

IMU + GNSS

test data: utbm_robocar_dataset_20180719_noimage.bag

• /imu/data: 100 hz
• /nmea_sentence: 15 hz
• /fix: 5 hz
• /nav_path: 63 hz

roslaunch imu_gnss_fusion imu_gnss_fusion.launch
rosbag play -s 25 utbm_robocar_dataset_20180719_noimage.bag

ROS graph and path on rviz:

plot the result path (fusion_gps.csv & fusion_state.csv) on Google Map using the scripts folium_csv.py:

IMU + VO

VO: ORB-SLAM2 (Stereo) + EuRoC V1_01_easy.bag

run ORB-SLAM2 (Stereo) and play back bag file

roslaunch imu_x_fusion imu_vo_fusion.launch

# https://github.com/cggos/orbslam2_cg
# pose cov:
# sigma_pv: 0.001
# sigma_rp: 0.5
# sigma_yaw: 0.5
roslaunch orbslam2_ros run_stereo_euroc.launch

rosbag play V1_01_easy.bag

results(Green path: estimated pose; Red path: pose of VO):

Use the recorded bag file directly

Download orbslam2_v101easy.bag

roslaunch imu_x_fusion imu_vo_fusion.launch

rosbag play orbslam2_v101easy.bag

VO: ORB-SLAM2 (Stereo) + MYNTEYE-S1030 Camera

# TODO: Test
roslaunch imu_x_fusion imu_vo_fusion_mynteye.launch

roslaunch mynt_eye_ros_wrapper mynteye.launch

TODO

• Sensors
  • Wheel Odometer
  • Manometer
• State Estimation
  • UKF
  • Particle Filter
  • GN/LM