Vicon Sensor Model¶
The Vicon system is a system of infra red cameras that are used to determine position and orientation. Vicon measurements are very percise. The Vicon measurement model allows for a mathematical description of the measurement function and the respective jacobian.
Measurement Function¶
\[
f(\vec{x}_{kinematic}, \vec{u}_{kinematic}) = f(\vec{x}_{pacejka}, \vec{u}_{pacejka}) = \begin{bmatrix}
x \\
y \\
\phi
\end{bmatrix}
\]
Measurement Jacobian¶
\[
\frac{df}{dx} = \begin{bmatrix}
1_{3x3} & 0_{3xn}
\end{bmatrix}
\]