├── LICENSE ├── README.md ├── data ├── DATA_MEDIUM.mat ├── ORB_SLAM_init.mat ├── fileImages.mat └── fileImages_MEDIUM.mat ├── filters ├── EsimatePosAmers.m ├── ObserveLandmarks.m ├── computeError.m ├── iekfPropagation.m ├── iekfUpdate.m ├── initTraj.m ├── lukfPropagation.m ├── lukfUpdate.m ├── manageAmers.m ├── myEsimatePosAmers.m ├── razTrackerBis.m ├── rukfPropagation.m ├── rukfUpdate.m ├── ukfPropagation.m ├── ukfRefPropagation.m ├── ukfRefUpdate.m ├── ukfUpdate.m └── updateTraj.m ├── mainExperiment.m └── myToolbox ├── chi2state.m ├── curlyhat.m ├── expSE3.m ├── expSO3.m ├── exp_multiSE3.m ├── hat.m ├── invSE3.m ├── logSE3.m ├── logSO3.m ├── log_multiSE3.m ├── state2chi.m ├── traj2error.m ├── vec2Ql.m ├── vec2Qr.m ├── vec2jacl.m ├── vec2jaclInv.m ├── vec2jaclInvSeries.m ├── vec2jaclSeries.m ├── vec2jacr.m ├── vec2jacrInv.m ├── vec2jacrInvSeries.m ├── vec2jacrSeries.m ├── vecto.m ├── xi2calJl.m └── xi2calJr.m /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/README.md -------------------------------------------------------------------------------- /data/DATA_MEDIUM.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/data/DATA_MEDIUM.mat -------------------------------------------------------------------------------- /data/ORB_SLAM_init.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/data/ORB_SLAM_init.mat -------------------------------------------------------------------------------- /data/fileImages.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/data/fileImages.mat -------------------------------------------------------------------------------- /data/fileImages_MEDIUM.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/data/fileImages_MEDIUM.mat -------------------------------------------------------------------------------- /filters/EsimatePosAmers.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/EsimatePosAmers.m -------------------------------------------------------------------------------- /filters/ObserveLandmarks.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/ObserveLandmarks.m -------------------------------------------------------------------------------- /filters/computeError.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/computeError.m -------------------------------------------------------------------------------- /filters/iekfPropagation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/iekfPropagation.m -------------------------------------------------------------------------------- /filters/iekfUpdate.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/iekfUpdate.m -------------------------------------------------------------------------------- /filters/initTraj.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/initTraj.m -------------------------------------------------------------------------------- /filters/lukfPropagation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/lukfPropagation.m -------------------------------------------------------------------------------- /filters/lukfUpdate.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/lukfUpdate.m -------------------------------------------------------------------------------- /filters/manageAmers.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/manageAmers.m -------------------------------------------------------------------------------- /filters/myEsimatePosAmers.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/myEsimatePosAmers.m -------------------------------------------------------------------------------- /filters/razTrackerBis.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/razTrackerBis.m -------------------------------------------------------------------------------- /filters/rukfPropagation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/rukfPropagation.m -------------------------------------------------------------------------------- /filters/rukfUpdate.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/rukfUpdate.m -------------------------------------------------------------------------------- /filters/ukfPropagation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/ukfPropagation.m -------------------------------------------------------------------------------- /filters/ukfRefPropagation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/ukfRefPropagation.m -------------------------------------------------------------------------------- /filters/ukfRefUpdate.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/ukfRefUpdate.m -------------------------------------------------------------------------------- /filters/ukfUpdate.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/ukfUpdate.m -------------------------------------------------------------------------------- /filters/updateTraj.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/filters/updateTraj.m -------------------------------------------------------------------------------- /mainExperiment.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/mainExperiment.m -------------------------------------------------------------------------------- /myToolbox/chi2state.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/chi2state.m -------------------------------------------------------------------------------- /myToolbox/curlyhat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/curlyhat.m -------------------------------------------------------------------------------- /myToolbox/expSE3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/expSE3.m -------------------------------------------------------------------------------- /myToolbox/expSO3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/expSO3.m -------------------------------------------------------------------------------- /myToolbox/exp_multiSE3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/exp_multiSE3.m -------------------------------------------------------------------------------- /myToolbox/hat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/hat.m -------------------------------------------------------------------------------- /myToolbox/invSE3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/invSE3.m -------------------------------------------------------------------------------- /myToolbox/logSE3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/logSE3.m -------------------------------------------------------------------------------- /myToolbox/logSO3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/logSO3.m -------------------------------------------------------------------------------- /myToolbox/log_multiSE3.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/log_multiSE3.m -------------------------------------------------------------------------------- /myToolbox/state2chi.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/state2chi.m -------------------------------------------------------------------------------- /myToolbox/traj2error.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/traj2error.m -------------------------------------------------------------------------------- /myToolbox/vec2Ql.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2Ql.m -------------------------------------------------------------------------------- /myToolbox/vec2Qr.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2Qr.m -------------------------------------------------------------------------------- /myToolbox/vec2jacl.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jacl.m -------------------------------------------------------------------------------- /myToolbox/vec2jaclInv.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jaclInv.m -------------------------------------------------------------------------------- /myToolbox/vec2jaclInvSeries.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jaclInvSeries.m -------------------------------------------------------------------------------- /myToolbox/vec2jaclSeries.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jaclSeries.m -------------------------------------------------------------------------------- /myToolbox/vec2jacr.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jacr.m -------------------------------------------------------------------------------- /myToolbox/vec2jacrInv.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jacrInv.m -------------------------------------------------------------------------------- /myToolbox/vec2jacrInvSeries.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jacrInvSeries.m -------------------------------------------------------------------------------- /myToolbox/vec2jacrSeries.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vec2jacrSeries.m -------------------------------------------------------------------------------- /myToolbox/vecto.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/vecto.m -------------------------------------------------------------------------------- /myToolbox/xi2calJl.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/xi2calJl.m -------------------------------------------------------------------------------- /myToolbox/xi2calJr.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mbrossar/FUSION2018/HEAD/myToolbox/xi2calJr.m --------------------------------------------------------------------------------