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The Odometry Error of a Mobile Robot with a Synchronous Drive System

Publications associées (67)

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A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots

Davide Scaramuzza

Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...

2018

The estimation of the apparent axon diameter (AAD) via diffusion MRI is affected by the incoherent alignment of single axons around its axon bundle direction, also known as orientational dispersion. The simultaneous estimation of AAD and dispersion is chal ...

SPRINGER-VERLAG BERLIN2018

A design method for distributed luenberger observers

Colin Neil Jones, Francisco Fernandes Castro Rego

The paper addresses the problem of designing distributed observers for discrete linear time-invariant (LTI) systems with distributed sensor nodes subjected to bounded measurement noise. A solution is proposed in terms of a distributed LTI Luenberger observ ...

IEEE2018

On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation

Davide Scaramuzza

It is well known that visual-inertial state estimation is possible up to a four degrees-of-freedom (DoF) transformation (rotation around gravity and translation), and the extra DoFs (“gauge freedom”) have to be handled properly. While different approaches ...

2018

Perception-aware Receding Horizon Navigation for MAVs

Davide Scaramuzza

To reach a given destination safely and accurately, a micro aerial vehicle needs to be able to avoid obstacles and minimize its state estimation uncertainty at the same time. To achieve this goal, we propose a perception-aware receding horizon approach. In ...

2018

Experimental indoors localization using distance measurements obtained from visual data

Yuan Yao

In recent years, the emergence of artificial intelligence increases the demand of automatic and robust localization outdoors and indoors. While GPS provides enough accuracy in most outdoor cases, there is still a lack of robust and efficient indoor localiz ...

2017

Existing camera networks in public spaces such as train terminals or malls can help social robots to navigate crowded scenes. However, the localization of the cameras is required, i.e., the positions and poses of all cameras in a unique reference. In this ...

2017

Automatic Calibration of Ultra Wide Band Tracking Systems Using A Mobile Robot: A Person Localization Case-study

Alcherio Martinoli, Zeynab Talebpour, Alessio Canepa

Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically d ...

Ieee2017

EchoSLAM: Simultaneous Localization and Mapping with Acoustic Echoes

Martin Vetterli, Ivan Dokmanic, Miranda Krekovic

We address the problem of jointly localizing a robot in an unknown room and estimating the room geometry from echoes. Unlike earlier work using echoes, we assume a completely autonomous setup with (near) collocated microphone and the acoustic source. We fi ...

Ieee2016

Aerial Locomotion in Cluttered Environments

Dario Floreano, Mirko Kovac, Jean-Christophe Zufferey, Adam Klaptocz, Jürg Markus Germann

Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dim ...

Springer-Verlag Berlin2016