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cs.RO2025
Dual Preintegration for Relative State Estimation
Ruican Xia, Hailong Pei
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation…
cs.RO2023
Extended Preintegration for Relative State Estimation of Leader-Follower Platform
Ruican Xia, Hailong Pei
Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually…