2 papers
cs.RO2024
BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem
Wenliang Sheng, Hongxu Zhao, Lingpeng Chen +6
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of th…
eess.SY2024
Covariance Intersection-based Invariant Kalman Filtering(DInCIKF) for Distributed Pose Estimation
Haoying Li, Xinghan Li, Shuaiting Huang +2
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 un…