Multi-Robot Relative Pose Estimation

python3 all.py

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PROJECT

Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization

https://arxiv.org/abs/2401.15313

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EKF RMS

EKF Xji RMS = 0.035375900890650305

EKF Yji RMS = 0.06359001802019262

EKF Thetaji RMS = 0.255538677430197

UKF RMS

UKF Xji RMS = 0.03726982949222382

UKF Yji RMS = 0.06761123655336253

UKF Thetaji RMS = 0.25992910160594723

PF RMS

PF Xji RMS = 0.07765336037289411

PF Yji RMS = 0.052557467761720184

PF Thetaji RMS = 6.895273672947768

ESEKF

ESEKF Xji RMS = 0.035303382755161546

ESEKF Yji RMS = 0.06333840869133035

ESEKF Thetaji RMS = 0.7803451182287594