Nao Pose Kalman Filter

We use a Kalman filter to estimate the pose of the robot (i.e. its orientation in space), because the raw accelerometer and gyros are very noisy. This video shows an example of the filtered pose compared to the pose of the robot calculated from the raw sensor values. The filtered pose is in white, the unfiltered pose is in blue.

UT Austin Villa is a team based at the University of Texas at Austin, competing in the Standard Platform League of RoboCup.

For more information, check out UT Austin Villa's webpage: http://www.cs.utexas.edu/~AustinVilla/

Or our 2008 team report: http://www.cs.utexas.edu/users/pstone/Papers/bib2html-links/hestertr08.pdf

Category:

Science & Technology

Tags:

• Nao
• Austin
• Villa
• kalman
• filter
• pose
• robocup