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An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update by Song, Junlin; Richard, Antoine; Olivares-Mendez, Miguel is a scholarly article available to read on EtoBox.

What is An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update about?

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.

Author

Song, Junlin; Richard, Antoine; Olivares-Mendez, Miguel

Published

2024

Language

EN