An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update
<|reference_start|>An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update: Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external force estimators are proposed in the literature. However, existing solutions may suffer from relatively low-frequency preintegration. In this paper, a novel estimator is designed to overcome this issue via high-frequency instantaneous accelerometer update.<|reference_end|>
@article{song2024an,
    title={An Accurate Filter-based Visual Inertial External Force Estimator via
  Instantaneous Accelerometer Update},
    author={Junlin Song, Antoine Richard, and Miguel Olivares-Mendez},
    journal={arXiv preprint arXiv:2408.16354},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.16354},
    primaryClass={cs.RO}
}