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Unscented Kalman Filter for Orientation Tracking

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