...Jiaxiang Hu; Xiaojun Shi; Chunyun Ma; Xin Yao; Yingxin Wang Purpose The purpose of this paper is to propose a multi-feature, multi-metric and multi-loop tightly coupled LiDAR-visual-inertial odometry, M³LVI, for high-accuracy and robust state estimation and mapping. Design...

... constraints, the state estimation accuracy and robustness will be depressed due to the coupling between dimensions. At the same time, if we only consider the ground constraint, that is, the deterministic constraint, it will degrade the performance of visual estimation because the 6 degrees of freedom of SE(3...

...Xiao Tu; Yunfei Zhou; Pu Zhao; Xin Cheng Purpose This paper aims to present a method for improving the state estimation of a robot in the presence of noise measurement, which can improve the performance of the robot controller. Design/methodology/approach In this work, a novel nonlinear...

... be contacted at: tangqing01@dongfang.com © Emerald Group Publishing Limited 2014 Mobile welding robot State estimation Seam tracking Extended Kalman filter Backstepping Localization e = 0 is a globally and asymptotically stable equilibrium point of the system (15), when...