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

We propose a fixed-lag smoother-based sensor fusion architecture to leveragethe complementary benefits of range-based sensors and visual-inertial odometry(VIO) for localization. We use two fixed-lag smoothers (FLS) to decoupleaccurate state estimation and high-rate pose generation for closed-loopcontrol. The first FLS combines ultrawideband (UWB)-based range measurementsand VIO to estimate the robot trajectory and any systematic biases that affectthe range measurements in cluttered environments. The second FLS estimatessmooth corrections to VIO to generate pose estimates at a high rate for onlinecontrol. The proposed method is lightweight and can run on a computationallyconstrained micro-aerial vehicle (MAV). We validate our approach throughclosed-loop flight tests involving dynamic trajectories in multiple real-worldcluttered indoor environments. Our method achievesdecimeter-to-sub-decimeter-level positioning accuracy using off-the-shelfsensors and decimeter-level tracking accuracy with minimally-tuned open-sourcecontrollers.

Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation