23 citations · 34 across the 7 of their papers we have counts for
5 papers · 1 filter
Learning a Terrain- and Robot-Aware Dynamics Model for Autonomous Mobile Robot Navigation
Jan Achterhold, Suresh Guttikonda, Jens U. Kreber +2
Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, pro…
Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry
Haolong Li, Joerg Stueckler
Wheeled mobile robots need the ability to estimate their motion and the effect of their control actions for navigation planning. In this paper, we present ST-VIO, a novel approach…
Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model
Suresh Guttikonda, Jan Achterhold, Haolong Li +2
In autonomous navigation settings, several quantities can be subject to variations. Terrain properties such as friction coefficients may vary over time depending on the location of…
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models
Haolong Li, Joerg Stueckler
In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows tha…