In preparation for Istanbul, we’ve begun overhauling the sensor filtering pipeline of our motion engine. Currently (see the graph) things are pretty insane, with three layers of filtering before any data makes it into the control algorithms. With any luck, we’ll be able to tune the early stages of filtering to reduce any unnecessary delay.
following the Apple Keynote Address! Actually, that’s pretty much all I did today.
Mark and I talked a bit about the state of localization and the way to integrate corner recognition into the ekf. Little bit tricky, but that should be done soon.