# ESKF-1

**Repository Path**: edaworld/ESKF-1

## Basic Information

- **Project Name**: ESKF-1
- **Description**: Error-State Kalman Filter for quadrotor using April Tags as landmarks
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-06-15
- **Last Updated**: 2021-06-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ESKF
Error-State Kalman Filter for quadrotor using April Tags as landmarks


All Kalman Filter details in ESKF2.m

Pose estimation from known april-tag landmarks in estimate_pose.m
Velocity estimation using optical flow in estimate_velocity.m

accuracy of results tested against VICON tracking data.

To run:
- load any file in data folder
- run generate_plots.m