EKF-based self-attitude estimation with DNN learning landscape information
Abstract This paper presents an EKF-based self-attitude estimation with a DNN (deep neural network) learning landscape information. The method integrates gyroscopic angular velocity and DNN inference in the EKF. The DNN predicts a gravity vector in a camera frame. The input of the network is a camer...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2021-03-01
|
| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-021-00196-3 |