26 citations · 29 across the 16 of their papers we have counts for
4 papers · 2 filters
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…
Optimal camera-robot pose estimation in linear time from points and lines
Guangyang Zeng, Biqiang Mu, Qingcheng Zeng +4
Camera pose estimation is a fundamental problem in robotics. This paper focuses on two issues of interest: First, point and line features have complementary advantages, and it is o…
Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data
Yuan Fu, Zheng Zhang, Guangyang Zeng +3
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distanc…
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…