UPenn ESE 650 Learning in Robotics, Project 2: Unscented Kalman Filter for Orientation Tracking and Image Panoramic Stitching
Implemeted Unscented Kalman Filter (UKF) following paper:
- Edgar Kraft, A quaternion-based unscented kalman filter for orientation tracking. Information Fusion, 2003. Proceedings of the Sixth International Conference on Information Fusion, Vol. 1 (2003), pp. 47-54.
- Project description: report/ese650proj2_luyiren.pdf
- Code demo:
./submission/run_code_ukf7.m - Panoramic image stitching video:
- Another ukf implementation can be found here