The estimator module group is implemented in agilib/src/estimator. There are different types of estimator, depending on the information they use:

  • ekf: An EKF propagated with a constant acceleration model and updated with 6-DoF pose and IMU measurements.

  • ekf_imu: An EKF propagated with IMU measurements and updated with 6-DoF pose measurements.

  • feedthrough: The estimation is provided completely from an external estimator.

  • mock_vio: A mock estimator that corrupts a ground-truth estimates with noise and bias to simulate real-world properties.