Sven Pfeiffer — accepted AI-conference papers

2021

A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors

Sven Pfeiffer, Christophe De Wagter, Guido C. H. E. de Croon

RA-L 2021

We present a computationally efficient moving horizon estimator that allows for real-time localization using Ultra-Wideband measurements on small quadrotors. The estimator uses only a single iteration of a simple gradient descent method to optimize the state estimate based on past measurements, whil

Cited by 14 Source ↗Scholar ↗

2021

Stereo Visual Inertial Odometry for Robots with Limited Computational Resources

Stavrow Bahnam, Sven Pfeiffer, Guido C.H.E. de Croon

IROS 2021poster

Current existing stereo visual odometry algorithms are computationally too expensive for robots with restricted resources. Executing these algorithms on such robots leads to a low frame rate and unacceptable decay in accuracy. We modify S-MSCKF, one of the most computationally efficient stereo Visua…

Cited by 15 Source ↗Scholar ↗