Quaternion-based Orientation Estimation

[jeljaik]

CURRENTLY working on it. Very very soon pushing initial code and brief report describing the method.

TODO List

• Write 3D visualizer.
• Write summary on Quest Attitude Determination.
• Write model function.
• Write measurement derivative function.
• Finish coding simplified version of the quaternion-based EKF.
• Push code when first full skeleton is ready.
• Notes on theory and implementation.
• Update website with the first corrected draft version of my notes.
• Unify notation.
• Online estimation with visualization

[jeljaik]

First perfectly working version in 80f3440

e.g. mainVisualizer('batchEKF', 'fullPitchRotation.mat', [])

[jeljaik]

Visualization of a full pitch rotations without singularities.

[naveenoid]

Excellent work @jeljaik

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Naveen Kuppuswamy, PhD
Post-doctoral Fellow,
Cognitive Humanoids Lab,
Department of Robotics, Brain and Cognitive Sciences (RBCS),
Istituto Italiano di Tecnologia, Genova, Italy

On Wed, Mar 18, 2015 at 3:31 PM, Jorhabib Eljaik notifications@github.com
wrote:

Visualization of a full pitch rotations without singularities.
[image: fullpitch]
https://cloud.githubusercontent.com/assets/5030039/6710862/bc8e0d20-cd83-11e4-96b3-f377b42c68c7.png

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