This repository is a python implementation of dual quaternion Kalman filter based on the following works:

1. Novel quaternion Kalman filter
2. Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace
3. Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter
4. Estimating SE(3) elements using a dual quaternion based linear Kalman filter

The bunny mesh model is from the Standford 3D Scanning Repository.

Visualization of the estimation