VIMO: Simultaneous Visual Inertial Model-based Odometry and Force Estimation

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 the desired motion due to actuation and the unwanted perturbation due to external force. For many robotic applications, it is often essential to sense the external force acting on the system due to, for ex...