• Authors: Nisar, Barza; Foehn, Philipp; Falanga, Davide; Scaramuzza, Davide

In recent years, many approaches to Visual Inertial Odometry (VIO) have become available. However, they neither exploit the robot’s dynamics and known actuation inputs, nor differentiate between desired motion due to actuation and unwanted perturbation due to external force. For many robotic applications, it is often essential to sense the external force acting on the …

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