arXiv Open Access 2024

An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update

Junlin Song Antoine Richard Miguel Olivares-Mendez

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Abstrak

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.

Topik & Kata Kunci

cs.RO

Penulis (3)

Junlin Song

Antoine Richard

Miguel Olivares-Mendez

Format Sitasi

APA MLA BibTeX

Song, J., Richard, A., Olivares-Mendez, M. (2024). An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update. https://arxiv.org/abs/2408.16354

Akses Cepat

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Informasi Jurnal

Tahun Terbit: 2024
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓