├── .gitignore ├── CMakeLists.txt ├── FIS-ESKF_Structure.jpg ├── README.md ├── dataset ├── 20240419_record │ ├── sensor_sync.bag │ ├── sensor_sync_1.bag │ ├── sensor_sync_2.bag │ ├── sensor_sync_3.bag │ ├── sensor_sync_4.bag │ └── sensor_sync_5.bag ├── 20240425_record │ ├── sensor_sync_6.bag │ ├── sensor_sync_7.bag │ ├── sensor_sync_8.bag │ └── sensor_sync_9.bag ├── fis_ieskf_20241008 │ ├── available.txt │ ├── ieskf_synced_20241008_QuickTurnA.bag │ ├── ieskf_synced_20241008_QuickTurnB.bag │ ├── ieskf_synced_20241008_SlowTurnA.bag │ ├── ieskf_synced_20241008_SlowTurnB.bag │ ├── ieskf_synced_20241008_Straight.bag │ ├── ieskf_synced_20241008_StraightA.bag │ └── ieskf_synced_20241008_StraightB.bag └── ieskf_without_img_20240729 │ ├── ieskf_A.bag │ ├── ieskf_B.bag │ ├── ieskf_C.bag │ ├── ieskf_D.bag │ ├── ieskf_E.bag │ └── ieskf_F.bag ├── docs ├── vwio_ESKF_Theory.html ├── vwio_ESKF_Theory.md └── vwio_ESKF_Theory.pdf ├── evo_test ├── plot.py ├── sensor_sync_6 │ ├── plot_sync_6 │ │ ├── eskf.tum │ │ ├── eskf_fis.tum │ │ ├── fis_eskf_20240713_sensor_6.bag │ │ ├── sensor_sync_6.bag │ │ ├── wio_pose.tum │ │ ├── wo_pose.tum │ │ └── wvo_pose.tum │ └── result_sync_6 │ │ ├── rpy_angle_increase_6.png │ │ ├── speed_6.png │ │ ├── trajectories_xy_6.png │ │ └── xyz_compoment_increase_6.png ├── sensor_sync_6_Nofilter │ ├── plot_sync_6_Nofilter │ │ ├── sensor_sync_6_NOfilter.bag │ │ ├── state_pose.tum │ │ ├── wio_pose.tum │ │ ├── wo_pose.tum │ │ └── wvo_pose.tum │ └── result_sync_6_Nofilter │ │ ├── speed_Nofilter.png │ │ ├── trajectory_xy_Nofilter.png │ │ └── xyz_component_Nofilter.png ├── sensor_sync_7 │ ├── plot_sync_7 │ │ ├── sensor_sync_7.bag │ │ ├── state_pose.tum │ │ ├── wio_pose.tum │ │ ├── wo_pose.tum │ │ └── wvo_pose.tum │ └── result_sync_7 │ │ ├── rpy_angle_increase_7.png │ │ ├── speed_7.png │ │ ├── trajectories_xy_7.png │ │ └── xyz_compoment_increase_7.png ├── sensor_sync_8 │ ├── plot_sync_8 │ │ ├── eskf.tum │ │ ├── eskf_fis.tum │ │ ├── fis_eskf_20240713_sensor_8.bag │ │ ├── sensor_sync_8.bag │ │ ├── wio_pose.tum │ │ ├── wo_pose.tum │ │ └── wvo_pose.tum │ └── result_sync_8 │ │ ├── rpy_angle_increase_8.png │ │ ├── speed_8.png │ │ ├── trajectories_xy_8.png │ │ └── xyz_compoment_increase_8.png └── sensor_sync_9 │ ├── plot_sync_9 │ ├── sensor_sync_9.bag │ ├── state_pose.tum │ ├── wio_pose.tum │ ├── wo_pose.tum │ └── wvo_pose.tum │ └── result_sync_9 │ ├── rpy_angle_increase_9.png │ ├── speed_9.png │ ├── trajectories_xy_9.png │ └── xyz_compoment_increase_9.png ├── include ├── eskf.h ├── filter.h ├── fis_getdata.h ├── ros_interface.h └── state_variable.h ├── launch ├── fis_eskf.launch ├── fis_eskf_record.launch ├── record.launch └── visual_imu_odom_eskf_localization.launch ├── msg ├── Q1Data.msg ├── V1Data.msg └── WOFISData.msg ├── package.xml ├── rviz └── vwio_eskf_localization.rviz └── src └── eskf_localization.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | 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