Parameter | Value | Unit |
---|---|---|
Object size | 10 × 10 cm |  |
Object mass (m) | 3.165 | kg |
Object inertia (\(\mathcal {I}_0\)) | 9.72 · 10−3 | kg m2 |
Base sample rate (\(T_s\)) | 2.5 | ms |
Vision sample rate (\(T_v\)) | 50 | ms |
Force noise covariance (W) | 0.04I 2 | N2 |
Vision noise covariance (V) | 0.01 | mm2 |