4 accepted papers
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However, commercial-grade GNSS receivers introduce unknown measurement delays ranging from 50 ms to 300 ms depending on sensor …
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which naturally arise either as components of vector readings or as in…
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from n ≥ 4 reference points with known coordinates in the target frame and their corresponding bearing measurements in the camera frame. The proposed approach follows a hierarchical structure;
This paper revisits the problem of estimating the attitude, linear velocity and depth of an IMU-Camera with respect to a planar target. The considered solution relies on the measurement of the optical flow (extracted from the continuous homography) complemented with gyrometer and accelerometer measu…