A standard Kalman filter is quite fast, requiring only about four or five matrix operations. We were using a custom Kalman filter that operates at 250 Hz.
Is that on the Rio or on a coprocessor? We’re just starting to dig in and hoping our design is lean enough to run on the Rio.
We are currently using a Kalman filter on Rio. In the future, we plan to implement a particle filter on a coprocessor, as we have observed some non-Gaussian noise, such as installation errors from tags and variations in camera positions and we want to incorporate other elements for localization that may not provide an exact location. However, a standard Kalman filter is perfectly fine for localization.
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