# Math Behind Fusion of FIXED POSE (AprilTag Pose)

Source: https://forum.modalai.com/topic/3276/math-behind-fusion-of-fixed-pose-apriltag-pose
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-03-30 13:40:34 UTC by zauberflote1 (ModalAI staff)
Replies: 0 · Views: 508

## zauberflote1 (ModalAI staff) · 2024-03-30 13:40:34 UTC

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?