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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…
cs.RO2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…