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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
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…
cs.RO2024
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…