IMU-based pose-estimation for spherical robots with limited resources

Jasper Zevering,Anton Bredenbeck,Fabian Arzberger,Dorit Borrmann,Andreas Nuechter

2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)（2021）

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摘要

Spherical robots are a robot format that is not yet thoroughly studied for the application of mobile mapping. However, in contrast to other forms, they provide some unique advantages. For one, the spherical shell provides protection against harsh environments, e.g., guarding the sensors and actuators against dust and solid rock. This is particularly useful in space applications. Furthermore, the i...

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关键词

Optical filters,Accelerometers,Interpolation,Simultaneous localization and mapping,Pose estimation,Jitter,Adaptive optics

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