This research project centered on developing a tool for building detailed, maps of mountain-bike trails by riding them.
The only sensor inputs are those available on a standard smart-phone.
The primary algorithms are based on the Multiplicative-Extended Kalman Filter.
This is topologically consistent formulation of an EKF which correctly handles the group SO(3).
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NickG-NZ/MTB_Track_Mapping
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Detailed MTB track mapping using the sensors in a mobile phone
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