Imu Odometry

We are going to walk through a test with RASlow using magnetic hall effect encoders and 3DMG microstrain IMU,

• Sensors Included
  • Magnetic Encoders - are basically Hall Effect Sensors placed very close to the motor pinion.
  • IMU - Microstrain - Just using the magnetic heading feature of the
• Tutorials with Code examples
  • David Anderson's Tutorial

Kalman Filter

• Reference Materials - Kalman Filter on Wikipedia, Kalman Intro,
  • Thrun Kalman Filter , you need in depth knowledge of Bayes Rule to find this useful
• This is example will look at using multiple visual landmarks to keep track of state
• Sensors Invovled
  • AIBO ERS-7 Camera Sensor
  • Positioning Sensors for Joints on the ERS-7 (i.e. for walking and turning)
• Tutorials with Code Examples
  • AIBO Kalman Filter - somewhat specific to AIBO hardware,
  • Kalman Theory more theory, less code
  • Bluefield State College Kalman Theory for Ground Vehicle, great IGVC kalman filter