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

Junlin Song, Antoine Richard, Miguel Olivares-Mendez

TL;DR

A novel estimator is designed to overcome the issue of relatively low-frequency preintegration via high-frequency instantaneous accelerometer update via high-frequency instantaneous accelerometer update.

Abstract

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.

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

TL;DR

A novel estimator is designed to overcome the issue of relatively low-frequency preintegration via high-frequency instantaneous accelerometer update via high-frequency instantaneous accelerometer update.

Abstract

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.
Paper Structure (9 sections, 3 equations, 3 figures, 1 table)

This paper contains 9 sections, 3 equations, 3 figures, 1 table.

Table of Contents

  1. Introduction
  2. Problem Formulation
  3. Notation
  4. State Vector
  5. Dynamic Propagation
  6. Accelerometer Measurement Update
  7. Visual Measurement Update
  8. Results
  9. Conclusion

Figures (3)

  • Figure 1: (a) Factor graph framework used in nisar2019vimoding2021vidcioffi2023hdviokang2023view. (b) Our novel filter framework.
  • Figure 2: (a) Mass-normalized forces of UAV. (b) Data collection platform of VID-Dataset zhang2022visual.
  • Figure 3: External force estimation: 17 (left) and 18 (right).