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Pose outlier filter (Rust)

PoseOutlierFilterRust rejects pose measurements that disagree with a constant-velocity prediction built from accepted pose history.

Inputs​

pose is a 4 by 4 transformation matrix.

Outputs​

filtered_pose is the accepted matrix. Rejected measurements produce None.

When to use​

Use this after pose estimation to stop isolated position or angle jumps from reaching localization outputs.

Configuration​

  • history_size: Accepted poses retained, default 20.
  • base_sigma: Base positional uncertainty in meters, default 0.1.
  • growth_rate: Uncertainty growth after rejections, default 0.2.
  • gate_k: Positional gate multiplier, default 3.0.
  • angular_gate_threshold: Angular gate in radians, default 0.5.
  • velocity_smoothing_alpha: Velocity update factor, default 0.3.
  • max_consecutive_rejections: Rejections before gate relaxation, default 10.
  • relax_factor: Relaxed-gate multiplier, default 2.0.
  • full_reset_threshold: Rejections before reset, default 10.

Limitations​

The Rust pose_outlier_filter extension must be built and importable. Python does not validate shape or finite values before flattening the input.