/EKF-Pose-Velocity-Estimation

AprilTag based perception: Pose Estimation with Homography; Velocity Estimation with Optical Flow & RANSAC; Sensor Fusion with EKF

Primary LanguageMATLAB

EKF-Pose-Velocity-Estimation

Implementation of perception stack of a camera/IMU based Crazyflie micro-quadcoptor:

  1. AprilTag based perception: Pose Estimation with Homography
  2. Velocity Estimation with Optical Flow; RANSAC is applied to reject outliers in feature matching.
  3. Sensor Fusion: Extended Kalman Filter (EKF) is used to fuse camera and IMU data to realize full 3d odometry estimation.