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. 2020 Nov 28;20(23):6814. doi: 10.3390/s20236814
Algorithm 3 Pose Fusion (xp,t,xr,t,Σr).
  • 1:

    if t-1 = 0 then

  • 2:

        Initialize x^t with xr,t

  • 3:

    else

  • 4:

        Predict: x^t = xp,t+δp

  • 5:

        Update: xt=Fusion_Method x^t,xr,t,Σr

  • 6:

    end if

  • 7:

    returnxt