English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Relative state estimation using exteroceptive sensors suffers fromlimitations of the field of view (FOV) and false detection, that theproprioceptive sensor (IMU) data are usually engaged to compensate. Recentlyego-motion constraint obtained by Inertial measurement unit (IMU)preintegration has been extensively used in simultaneous localization andmapping (SLAM) to alleviate the computation burden. This paper introduces anextended preintegration incorporating the IMU preintegration of two platformsto formulate the motion constraint of relative state. One merit of thisanalytic constraint is that it can be seamlessly integrated into the unifiedgraph optimization framework to implement the relative state estimation in ahigh-performance real-time tracking thread, another point is a full smootherdesign with this precise constraint to optimize the 3D coordinate and refinethe state for the refinement thread. We compare extensively in simulations theproposed algorithms with two existing approaches to confirm our outperformance.In the real virtual reality (VR) application design with the proposedestimator, we properly realize the visual tracking of the six degrees offreedom (6DoF) controller suitable for almost all scenarios, including thechallenging environment with missing features, light mutation, dynamic scenes,etc. The demo video is at https://www.youtube.com/watch?v=0idb9Ls2iAM. For thebenefit of the community, we make the source code public.

Extended Preintegration for Relative State Estimation of Leader-Follower Platform