Visual-Inertial Odometry Based on Kinematic Constraints in IMU Frames
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3173040
Abstract: We propose a visual-inertial odometry (VIO) framework that fuses inertial measurement unit (IMU) data in the body frame based on kinematic relations. The IMU measurements are directly used as the parameters of kinematic constraints rather… read more here.
Keywords: kinematic constraints; based kinematic; visual inertial; inertial odometry ... See more keywords
Learning-Based Kinematic Control Using Position and Velocity Errors for Robot Trajectory Tracking
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"
DOI: 10.1109/tsmc.2020.3013904
Abstract: In this article, we address the trajectory tracking problem using the learning from demonstration (LFD) method. By using the LFD method, the parameter adjusting problem in the tracking controller is avoided. Consequently, a strategy can… read more here.
Keywords: position velocity; trajectory tracking; based kinematic; velocity ... See more keywords