Recent content by slamo

Ok, I found it: % dht_dqc % dht_dqc = zeros(3,4); % dht_dqrc = 2* [ qr -qz qy; qz qr -qx; -qy qx qr ] * [dx; dy; dz]; % dht_dqxc = 2* [ qx qy qz; qy -qx -qr; qz qr -qx ] * [dx; dy; dz]; % dht_dqyc = 2*...

Dear all, I'm trying to implement an Extended Kalman Filter based SLAM for orientation and angular rates. To ease up things I discarded the estimation of position and linear velocities. I'm using a quaternion based approach with translation vectors of 3D-points/landmarks as measurements...