2025
Offline motion tracking of multi-link mechanisms using inertial sensor fusion and EKF-preconditioned FGO
IROS 2025
This paper presents a novel strategy for offline estimation of the spatial motion of a multi-link mechanism using Inertial Measurement Unit (IMU) sensors. Accelerometers, gyroscopes and magnetometers are strategically mounted and modeled to maximize measurement accuracy through the past work of iner