├── .gitmodules ├── LICENSE ├── README.md ├── ekf_rio_tc ├── CMakeLists.txt ├── cfg │ ├── EkfRio.cfg │ ├── cfg_ekf_rio │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── ekf_rio.cpython-38.pyc │ │ └── ekf_rio.py │ └── cfg_radar_ego_velocity_estimation ├── config │ ├── coloradar │ │ ├── Coloradar_extrinsic.yaml │ │ └── Coloradar_param.yaml │ ├── ekf_rio.rviz │ ├── icins │ │ ├── ICINS_extrinsic_12.yaml │ │ ├── ICINS_extrinsic_34.yaml │ │ └── ICINS_param.yaml │ └── sequence │ │ ├── Sequence_extrinsic.yaml │ │ └── Sequence_param.yaml ├── datasets │ ├── Sequence1.bag │ ├── Sequence2.bag │ ├── Sequence3.bag │ ├── Sequence4.bag │ ├── Sequence5.bag │ ├── Sequence6.bag │ └── Sequence7.bag ├── include │ └── ekf_rio_tc │ │ ├── baro_altimeter.h │ │ ├── data_types.h │ │ ├── ekf_rio_filter.h │ │ ├── ekf_rio_ros.h │ │ └── msg_conversion.h ├── launch │ ├── ColoRadar │ │ ├── ColoRadar.launch │ │ └── ColoRadar_rosbag.launch │ ├── ICINS │ │ ├── ICINS.launch │ │ └── ICINS_rosbag.launch │ └── Sequence │ │ ├── Sequence.launch │ │ └── Sequence_rosbag.launch ├── msg │ ├── EkfRioCovariance.msg │ └── EkfRioState.msg ├── package.xml ├── python │ └── pose_velocity_evaluator.py ├── res │ ├── figure_1.pdf │ ├── figure_2.pdf │ ├── figure_3.pdf │ ├── figure_4.pdf │ ├── figure_5.pdf │ └── figure_6.pdf └── src │ ├── ekf_rio_filter.cpp │ ├── ekf_rio_ros.cpp │ └── nodes │ ├── ros_node.cpp │ └── rosbag_node.cpp └── rio_utils ├── CMakeLists.txt ├── include └── rio_utils │ ├── data_types.h │ ├── math_helper.h │ ├── ros_helper.h │ ├── simple_profiler.h │ └── strapdown.h ├── package.xml └── src ├── simple_profiler.cpp └── strapdown.cpp /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/spearwin/EKF-RIO-TC/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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