Abstract
New research on Robotics - Robotics and Automation is the subject of a report. According to news reporting originating from Munich, Germany, by NewsRx correspondents, research stated, “We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixedlag smoothers (FLS) to decouple accurate state estimation and high-rate pose generation for closed-loop control.” Financial support for this research came from CGIAR. Our news editors obtained a quote from the research from Technical University Munich (TU Munich), “The first FLS combines ultrawideband (UWB)-based range measurements and VIO to estimate the robot trajectory and any systematic biases that affect the range measurements in cluttered environments. The second FLS estimates smooth corrections to VIO to generate pose estimates at a high rate for online control. The proposed method is lightweight and can run on a computationally constrained micro-aerial vehicle (MAV). We validate our approach through closed-loop flight tests involving dynamic trajectories in multiple real-world cluttered indoor environments.”
NETL
NSTL
IEEE