IEEE - Institute of Electrical and Electronics Engineers, Inc. - VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation

Author(s): Barza Nisar ; Philipp Foehn ; Davide Falanga ; Davide Scaramuzza
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 2,785 - 2,792
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2918689
Regular:

In recent years, many approaches to visual-inertial odometry (VIO) have become available. However, they neither exploit the robot's dynamics and known actuation inputs, nor differentiate between... View More

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