Quick demo of outlier rejection working in simulation.
I built a spike injector that publishes a fake GPS fix 500 meters from the robot’s actual position into a live running FusionCore filter. The Mahalanobis distance hit 60,505 against a rejection threshold of 16. All three spikes dropped instantly. Position didn’t move.
The video is 30 seconds: robot driving in Gazebo, FusionCore GCS dashboard showing the Mahalanobis waveform, rejection log, and spike counter updating in real time.
For anyone who missed the original announcement: FusionCore is a ROS 2 Jazzy sensor fusion package replacing deprecated robot_localization. IMU, wheel encoders, and GPS fused via UKF at 100Hz. Apache 2.0.