This week, I implemented the attitude and position EKF modules and connected them to the IMU and visual pipelines. I also tested the data flow between nodes and began running end-to-end tests using recorded data.
For verification, I checked that the attitude EKF produces stable roll, pitch, and yaw when combining IMU and visual inputs, and that the position EKF propagates motion correctly and updates toward visual position measurements. Initial results show the system is behaving as expected.
In the process, I had to learn more about EKF design, coordinate frame transformations, and how to structure ROS nodes for modular systems. I mainly learned this through documentation, online resources, and testing small examples before integrating everything together.
My progress is on schedule. Next week, I plan to run more tests and evaluate accuracy against ground truth.