# semanticSlam_EKF_ESKF

**Repository Path**: sdkmsdn_admin/semanticSlam_EKF_ESKF

## Basic Information

- **Project Name**: semanticSlam_EKF_ESKF
- **Description**: Fusion imu,gps,vehicle data and intermediate result of vision.  Compare EKF & ESKF in python.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2020-03-28
- **Last Updated**: 2025-03-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# semanticSlam_EKF_ESKF
Fusion imu,gps,vehicle data and intermediate result of vision.  Compare EKF & ESKF in python.

##EKF
use IMU and gps's speed(N-E-D) & heading. so Position increases. Position update is linear and easy to add. So the same to vision-pose.

##ESKF
use IMU and all gps's speed(N-E-D) & heading & position(xy,no height).