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All Projects → yrlu → vision-based_estimations

yrlu / vision-based_estimations

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Vision-based Robot 3D Pose and Velocities Estimations

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matlab
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camera-calibrationoptical-flowukfpnpkalman-filter3d-visionprojective-geometry

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Vision-based 3D Pose and Velocities Estimation

step

Following MEAM 620 Advanced Robotics course at University of Pennsylvania.

This repo includes matlab code:

  • Vision-based 3D pose estimation
  • Vision-based 3D (linear & angular) velocity estimation
  • Kalman Filters
  • Useful tool functions for quaternion operations (quat/)

Check refs/ for references that I found useful.

Plots

  • position and orientation

step step

  • linear and angular velocities

step step

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