An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update
arXiv:2408.16354
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.
Accepted by the 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40)