# An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update

arXiv: https://arxiv.org/abs/2408.16354 · HTML: https://mlsanity.com/paper/2408.16354/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Aug 2024.

## Built on by (most cited first, 1 of 1)

- [Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment](https://mlsanity.com/paper/2502.16598/) (2025)

## Abstract (arXiv)

Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external force estimators are proposed in the literature. However, existing solutions may suffer from relatively low-frequency preintegration. In this paper, a novel estimator is designed to overcome this issue via high-frequency instantaneous accelerometer update.