This repository is for estimating the covariance of drift suffering proprioceptive sensors, using an exteroceptive sensor with known uncertainty. This package is a generic package, which is capable of estimating the covariance of any proprioceptive sensor (any dimension).
Maintainer Status: maintained
Maintainer: Mostafa Osman
Author: Mostafa Osman, Ahmed Hussein and Abdulla Al-Kaff
Proprioceptive sensor odometry with unknown covariance topic
/odom_with_no_covariance_topic (nav_msgs/Odometry)
Exteroceptive sensor odometry with known covariance topic
/odom_with_covariance_topic (nav_msgs/Odometry)
Proprioceptive sensor odometry with estimated covariance topic
/odom_with_calculated_cov_topic (nav_msgs/Odometry)
M. Osman, A. Hussein, A. Al-Kaff, F. Garcia, and J.M. Armingol (2018). “Online adaptive covariance estimation approach for multiple odometry sensors fusion”. In proceedings of Intelligent Vehicles Symposium (IV2018), pp. 1–6. IEEE.