EKF Fusion for IMU and Cam pitch

EKF Fusion for IMU and Camera

python imu_fusion.py

Your data will be load in the following way:

cam_data = glob.glob('data/ground_est_raw/*')
imu_data = glob.glob('data/imu/*')

Your belief on the camera will be:

var_cam = 0.1

Right now the data is updated based on all your cam inputs: [height, roll, pitch].

python online_fusion.py

You will get:

Sum of Residual error for Two state Kalman is:
-0.00046486205076725143
Sum of Residual error for One state Kalman is:
-2.046092015768805