[en] 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.
Disciplines :
Computer science
Author, co-author :
SONG, Junlin ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
RICHARD, Antoine ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
External co-authors :
no
Language :
English
Title :
An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update
Publication date :
23 September 2024
Event name :
ICRA@40
Event place :
Rotterdam, Netherlands
Event date :
23-26 September, 2024
Audience :
International
Peer reviewed :
Peer reviewed
Commentary :
Accepted by the 40th Anniversary of the IEEE Conference on Robotics
and Automation (ICRA@40)
