Related papers: Geometric Data Fusion for Collaborative Attitude E…
This paper presents a novel method for attitude estimation of an object in 3D space by incremental learning of the Long-Short Term Memory (LSTM) network. Gyroscope, accelerometer, and magnetometer are few widely used sensors in attitude…
Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…
Accurate state estimation using low-cost MEMS (Micro Electro- Mechanical Systems) sensors present on Commercial-off-the-shelf (COTS) drones is a challenging problem. Most UAV systems use a combination of a gyroscope, an accelerometer, and a…
Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The…
In multi-sensor data fusion (or sensor fusion), sensor biases (or offsets) often affect the accuracy of the correlation and integration results of the tracking targets. Therefore, to estimate and compensate the bias, several methods are…
This paper conveys attitude and rate estimation without rate sensors by performing a critical comparison, validated by extensive simulations. The two dominant approaches to facilitate attitude estimation are based on stochastic and…
Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2)…
Among algorithms used for sensor fusion for attitude estimation in unmanned aerial vehicles, the Extended Kalman Filter (EKF) is the most commonly used for estimation. In this paper, we propose a new version of H2 estimation called extended…
This paper presents a novel approach to distributed pose estimation in the multi-agent system based on an invariant Kalman filter with covariance intersection. Our method models uncertainties using Lie algebra and applies object-level…
In this paper, we study the collaborative state fusion problem in a multi-agent environment, where mobile agents collaborate to track movable targets. Due to the limited sensing range and potential errors of on-board sensors, it is…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of…
A pose estimation technique based on error-state extended Kalman that fuses angular rates, accelerations, and relative range measurements is presented in this paper. An unconstrained dynamic model with kinematic coupling for a…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of…
We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these…
This paper proposes an algorithm for combined contact detection and state estimation for legged robots. The proposed algorithm models the robot's movement as a switched system, in which different modes relate to different feet being in…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…