GitHub - marynelv/IVCalibrationToolbox: MATLAB toolbox to calibrate between inertial and vision sensors

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MATLAB toolbox to calibrate between inertial and vision sensors

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Name		Name	Last commit message	Last commit date
Latest commit History 182 Commits
final-report		final-report
midterm-report		midterm-report
results		results
.gitignore		.gitignore
DisplayCameraPlane.m		DisplayCameraPlane.m
IMUCameraRotationUKF.m		IMUCameraRotationUKF.m
IMUCameraTransformationUKF.m		IMUCameraTransformationUKF.m
IMUCameraTranslationUKF.m		IMUCameraTranslationUKF.m
README.txt		README.txt
almostCompleteUKF_simpleData.m		almostCompleteUKF_simpleData.m
angleaxis2matrix.m		angleaxis2matrix.m
bezierCurve.m		bezierCurve.m
bspline1.m		bspline1.m
bspline3.m		bspline3.m
calculateSigmaPoints.m		calculateSigmaPoints.m
cameraOrientation.m		cameraOrientation.m
correctUKF.m		correctUKF.m
cubicSpline.m		cubicSpline.m
example_data1.mat		example_data1.mat
experimentPQVTRGBB.m		experimentPQVTRGBB.m
experimentPQVTRGBBplot.m		experimentPQVTRGBBplot.m
findQuaternionError.m		findQuaternionError.m
fullUKF.m		fullUKF.m
generatePosBspline.m		generatePosBspline.m
getVelocityAcceleration.m		getVelocityAcceleration.m
kalmanGain.m		kalmanGain.m
matrix2quaternion.m		matrix2quaternion.m
measurementModel.m		measurementModel.m
measurementModelIMUCamera.m		measurementModelIMUCamera.m
measurementModelIMUCameraRotation.m		measurementModelIMUCameraRotation.m
measurementModelIMUCameraTranslation.m		measurementModelIMUCameraTranslation.m
measurementModelPQV.m		measurementModelPQV.m
measurementModelPQVG.m		measurementModelPQVG.m
measurementModelPQVIC.m		measurementModelPQVIC.m
measurementModelPQVICr.m		measurementModelPQVICr.m
measurementModelPQVTRGBB.m		measurementModelPQVTRGBB.m
measurementModelPV.m		measurementModelPV.m
measurementModelPositionIMUCamera.m		measurementModelPositionIMUCamera.m
measurementModelRotation.m		measurementModelRotation.m
measurementModelTranslation.m		measurementModelTranslation.m
mgd.m		mgd.m
newquaternion.m		newquaternion.m
plotQuaternion.m		plotQuaternion.m
plotSynthesizeData.m		plotSynthesizeData.m
plotSynthesizeLookAtLandmarksWithRotations.m		plotSynthesizeLookAtLandmarksWithRotations.m
positionIMUCameraUKF.m		positionIMUCameraUKF.m
positionUKF.m		positionUKF.m
posterioriStateCov.m		posterioriStateCov.m
pqvUKF.m		pqvUKF.m
pqvgUKF.m		pqvgUKF.m
pqvicUKF.m		pqvicUKF.m
pqvicrUKF.m		pqvicrUKF.m
pqvicrgUKF.m		pqvicrgUKF.m
pqvtrgbbUKF.m		pqvtrgbbUKF.m
predictUKF.m		predictUKF.m
prettyPlot.m		prettyPlot.m
prettyPlotSingle.m		prettyPlotSingle.m
processModel.m		processModel.m
processModelPQV.m		processModelPQV.m
processModelPQVG.m		processModelPQVG.m
processModelPQVIC.m		processModelPQVIC.m
processModelPQVICr.m		processModelPQVICr.m
processModelPQVICrg.m		processModelPQVICrg.m
processModelPQVTRGBB.m		processModelPQVTRGBB.m
processModelPV.m		processModelPV.m
processModelQuat.m		processModelQuat.m
processModelTranslation.m		processModelTranslation.m
pvUKF.m		pvUKF.m
quaternion2matrix.m		quaternion2matrix.m
quaternion2rotation.m		quaternion2rotation.m
quaternionDerivative.m		quaternionDerivative.m
quaternionRotate.m		quaternionRotate.m
quaternionconjugate.m		quaternionconjugate.m
quaternionproduct.m		quaternionproduct.m
rotation2quaternion.m		rotation2quaternion.m
rotation_only_UKF.m		rotation_only_UKF.m
rotx.m		rotx.m
roty.m		roty.m
rotz.m		rotz.m
runBspline3.m		runBspline3.m
skewSymmetric.m		skewSymmetric.m
synthesizeData.m		synthesizeData.m
synthesizeDataLookAtLandmarks.m		synthesizeDataLookAtLandmarks.m
synthesizeDataLookAtLandmarksWithRotations.m		synthesizeDataLookAtLandmarksWithRotations.m
synthesizeDataLookAtLandmarksWithRotationssm.m		synthesizeDataLookAtLandmarksWithRotationssm.m

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A Toolbox to Calibrate Between Inertial and Vision Sensors
Authors: Andrew Chambers, Natasha Kholgade, and Marynel Vazquez 
Final project for 16-831 Statistical Techniques in Robotics (Carnegie Mellon University, Fall 2011)

First attempt at implementing filter that does just translation

We are using several functions from:
P. D. Kovesi.   MATLAB and Octave Functions for Computer Vision and Image Processing.
Centre for Exploration Targeting
School of Earth and Environment 
The University of Western Australia. 
Available from:
<http://www.csse.uwa.edu.au/~pk/research/matlabfns/>.

They have been added to the repository for convenience.