Awesome

Vision-based 3D Pose and Velocities Estimation

Following MEAM 620 Advanced Robotics course at University of Pennsylvania.

This repo includes matlab code:

• Vision-based 3D pose estimation
• Vision-based 3D (linear & angular) velocity estimation
• Kalman Filters
• Useful tool functions for quaternion operations (quat/)

Check refs/ for references that I found useful.

Plots

• position and orientation

<img src="imgs/kf_ds1_pos.jpg" alt="step" width="420"> <img src="imgs/kf_ds1_ori.jpg" alt="step" width="420">

• linear and angular velocities

<img src="imgs/kf_ds1_vel.jpg" alt="step" width="420"> <img src="imgs/kf_ds1_omg.jpg" alt="step" width="420">