READMEFIRST!.txt

README For Running Orientation/Attitude Tracking Code:
(1) Run Wrapper.m for running Complementary Filter, Kalman Filter and Unscented Kalman Filter
(2) Change the flags in Wrapper.m as needed
(3) By default, the code runs all the filters, shows the panorama stitching and saves the panorama in the current directory.
(4) By default, image blending is off as it is very slow, use Wt to turn it on.
(5) When you run the code, dialog boxees will open for you to load the necessary files. General order is IMUData, ViconData and then CameraData (as the flags are set)
(6) Rotplot is disabled by default, enable it using the RotboxFlag in Wrapper.m

References:
For UKF:
(1) Kraft, Edgar. "A quaternion-based unscented Kalman filter for orientation tracking." Proceedings of the Sixth International Conference of Information Fusion. Vol. 1. 2003.
(2) S.  J.  Julier  and  J.  K.  Uhlmann, A  new  extension  of the Kalman filter to nonlinear systems , in International Symposium  on  Aerospace/Defense  Sensing,  Simulation and Controls, Orlando, USA, 1997
For Panorama Stitching:
(3) http://www.csie.ntu.edu.tw/~cyy/courses/vfx/05spring/lectures/handouts/lec06_stitching_4up.pdf
(4) http://cs.gmu.edu/~kosecka/cs482/lect-panoramas.pdf
Complementary Filter:
(5) http://www.pieter-jan.com/node/11
Kalman Filter:
(6) MEAM 620 slides at https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=Main.Schedule2015?action=download&upname=2015_extendedKalmanFilter.pdf