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Fundamentals: Coordinate Frames
The world of robotics has a dizzying number of subjects; it’s quite overwhelming at first glance to figure out which topics someone “really needs to get” and which topics require a more cursory...
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Introduction to the Kalman Filter, Part I
Dealing with the real world is rough. (With an opening like that, you can probably guess how my high school days went.) To be clear here, we’re talking about robots having to deal with the real world...
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Fundamentals: Vectors, Matrices and Matrix Operations
Our initial introduction to the Kalman filter was easy to understand because both the motion and measurement models were assumed to be one-dimensional. That’s great if you’re a lustrous point in...
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Introduction to the Kalman Filter, Part II
As discussed in Part I, the Kalman filter is an optimal, prediction/correction estimation technique which minimizes estimated error and can be used a wide array of problems. While Part I focused on a...
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