An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866910581864267776 |
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| author | Song, Junlin Richard, Antoine Olivares-Mendez, Miguel |
| author_facet | Song, Junlin Richard, Antoine Olivares-Mendez, Miguel |
| contents | Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external force estimators are proposed in the literature. However, existing solutions may suffer from relatively low-frequency preintegration. In this paper, a novel estimator is designed to overcome this issue via high-frequency instantaneous accelerometer update. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_16354 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update Song, Junlin Richard, Antoine Olivares-Mendez, Miguel Robotics Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external force estimators are proposed in the literature. However, existing solutions may suffer from relatively low-frequency preintegration. In this paper, a novel estimator is designed to overcome this issue via high-frequency instantaneous accelerometer update. |
| title | An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update |
| topic | Robotics |
| url | https://arxiv.org/abs/2408.16354 |