ModalAI Forum

zauberflote1 · 2024-03-30T13:40:34.977Z

Hello, I am curious about the math behind the "fusion" of the fixed pose coming from the apriltags. From what I understood reading pose_filter.c and geometry.c, the filter uses a ring buffer and finds the average of the values buffered as the new correct values of x, y, z, and yaw. Could anyone confirm this?

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Math Behind Fusion of FIXED POSE (AprilTag Pose)

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zauberflote1
ModalAI Team
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Hello,
I am curious about the math behind the "fusion" of the fixed pose coming from the apriltags. From what I understood reading pose_filter.c and geometry.c, the filter uses a ring buffer and finds the average of the values buffered as the new correct values of x, y, z, and yaw. Could anyone confirm this?
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