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RISObservability Analysis of Relative Localization Filters Subjected to Platform Velocity Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This research study performs an observability analysis of the relative localization problem related to multirobotic systems. The study considers different constraints related to the availability of relative position ...
The Right Invariant Nonlinear Complementary Filter for Low Cost Attitude and Heading Estimation of Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering (EKF) of measurements ...
Efficient and Consistent Two Key-Frame Visual-Inertial Navigation Using Matrix Lie Groups
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design of a two key-frame visual-inertial navigation system (2KF-VINS) using a combined Lie group SE2(3) extended Kalman filter (EKF) design framework. The conventional 2KF-VINS filter is unobservable ...
Developing Computationally Efficient Nonlinear Cubature Kalman Filtering for Visual Inertial Odometry
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a computationally efficient sensor-fusion algorithm for visual inertial odometry (VIO). The paper utilizes trifocal tensor geometry (TTG) for visual measurement model and a nonlinear deterministic-sam ...
Developing Computationally Efficient Nonlinear Cubature Kalman Filtering for Visual Inertial Odometry
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a computationally efficient sensor-fusion algorithm for visual inertial odometry (VIO). The paper utilizes trifocal tensor geometry (TTG) for visual measurement model and a nonlinear deterministic-sam ...