ANFIS-Matlab-For-VWIO_ESKF

ANFIS-MATLAB For Visual-Wheel-Inertial Odometry ESKF Muti-Sensor Fusion

Membership Function

Input Membership Function

Wheel Velocity Difference p

Wheel Angular Velocity $\omega$

Output Membership Function

Fuzzy Rules Inference

$\mathrm{\omega}$	$\mathrm{p}$	Variance
A6	A1	$W_{\text{H}}$
A6	A2	$W_{\text{H}}$
A6	A4	$W_{\text{H}}$
A5	A1	$W_{\text{H}}$
A5	A4	$W_{\text{H}}$
A6	A3	$W_{\text{L}}$
A5	A2	$W_{\text{L}}$
A5	A3	$W_{\text{H}}$

FIS Structure