16 August 2021

Pose Estimation

A basic prerequisite for autonomous driving and flying is the precise knowledge of position and orientation in space. A self-driving vehicle must therefore know its coordinates in the area and also its heading. If it is moving on uneven ground, its inclination angles may also be of interest. The sum of all this information is called the pose. Because every kind of pose measurements – e.g. via GPS/RTK, UWB, laser sensors, lidar, wheel motion (odometry), magnetic and inertial sen-sors, etc. – are subject to individual errors, an overall estimation considering all measurements is necessary. Today, a Kalman filter is typically used for this purpose.

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