InertialPoseLib

InertialPoseLib is a library for estimating IMU State

Features

IMU-based EKF State Estimation using Eigen Library

• 24-DOF EKF for IMU state estimation and bias removal
  • Pos, Vel, Gyro, Acc, IMU Bias, Gravity ...
• Supports external pose update
• Supports Complementary Filtering for orientation estimation
• Supports ZUPT through vehicle stop detection (TODO)

How To Use

Refer to the example file in the /example folder: example-PoseEstimation.cpp

Build Instructions

To build the InertialPoseLib library, follow these steps:

1. Run CMake: When building with CMake, you can use the INERTIALPOSELIB_PRECISION option to specify the precision of floating-point variables. For example:

   catkin_make -DINERTIALPOSELIB_PRECISION=1

   This option allows you to choose between different precision levels (1 for float, 2 for double, etc.).

Links

• Example video: TODO
• Author: Jaeyoung Jo, wodud3743@gmail.com