Implementation of an Unscented Kalman Filter for Orientation Tracking of a Rigid Body
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چکیده
The main objective of this project was to implement a Kalman filter to track three dimensional orientation of a platform in real time. We were provided with tracking information data from a Vicon motion capture system as well as IMU data from accelerometers and gyroscopes. A set of RGB images corresponding to the scene in which the tracking was done was also provided. After creating a working 3D orientation filter, we would then optimize this filter by implementing an algorithm that would learn better model parameters. For this project, I implemented an Unscented Kalman Filter as outlined in [1]. Real-time mosaics were also created of the scene using the orientation computed by the filter. The method used in this project and the results are presented in detail below.
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