3 papers
cs.RO2026
Real-Time Ground Normal Vector Estimation for Spherical Mobile 3D Mapping using LiDAR-Inertial Odometry
Tim Schubert, Fabian Arzberger, Andreas Nüchter
Accurate ground plane normal estimation is essential for odometry in spherical mobile mapping systems (SMMS), which face challenges from rapid rotations and limited ground coverage…
cs.RO2026
Motion-Acceleration Calibration and Compensation in IMUs without External Equipment for Attitude Estimation Filters
Fabian Arzberger, Andreas Nüchter
Attitude estimation based on inertial sensing requires measurements of local angular velocities and local gravity via gyroscopes and accelerometers. However, during the motion of a…
cs.RO2025
Design and Evaluation of Two Spherical Systems for Mobile 3D Mapping
Marawan Khalil, Fabian Arzberger, Andreas Nüchter
Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work p…