Questions on Fusion of IMU with Odometer

[Ethan-Zhou]

Hi Steven,

I found your project on Medium. Very inspired stories and detailed descriptions. Thanks for your sharing.

I am now looking into your code and I cannot find the fusion part discussed in the IV chapter of your project. My question is basically about the extrinsic calibration of the IMU. Do you really do this w.r.t the car body coordinate? If yes, what is your solution. Also, can you opensource the fusion code? Cheers, Joey

[DAR6969]

Hi guys! I have the same question. I've been looking for that part of the code for a while now. The medium article is very well writen, but I haven't found the Extended Kalman Filter part yet. Please help

[Alex-Beh]

Is this the param file that you are looking for?

Which has been used here