vision-based_estimations
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Vision-based Robot 3D Pose and Velocities Estimations
Vision-based 3D Pose and Velocities Estimation
![step](https://github.com/yrlu/vision-based_estimations/raw/master/imgs/p2p1_dataset4_trimmed.gif)
Following MEAM 620 Advanced Robotics course at University of Pennsylvania.
This repo includes matlab code:
- Vision-based 3D pose estimation
- Vision-based 3D (linear & angular) velocity estimation
- Kalman Filters
- Useful tool functions for quaternion operations (
quat/
)
Check refs/
for references that I found useful.
Plots
- position and orientation
- linear and angular velocities