New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Content #3

Open

HannesSommer opened this issue Mar 9, 2017 · 1 comment

Contributor

HannesSommer commented Mar 9, 2017

We should at least know about existing code before redoing work or missing to integrate useful bits.

Currently we've got:

Paul's implementation of a simple convex hull algorithm + an amendment to alternate between two estimators over time and always reset the other to handle long term clock drift (thanks to @pfmark).
the TimeSyncEKF. Can that go open source?

@burrimi , you seemed to know what has been done so far. Can you (or somebody else) point me to existing code? E.g. that batch approach.

Open-sourc-ability can be considered in a second step.

Also, does somebody know why the TimeSyncEKF is called EKF? To me it looks much more like a normal linear KF.

burrimi commented May 23, 2017

The least squares approach is implemented here: https://github.com/ethz-asl/asctec_communication_interface/blob/master/src/lib/simple_time_synchronizer.cpp
I'm not 100% if everything is correct though and we should double check the implementation if we also implement it here.
I agree with @HannesSommer that we should call it KF and it's ok for me to open-source.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment