Abstract: A method to perform vision based navigation on a moving vehicle. An image processor receives reference images with associated depth information as base frames or search frames. 2D features are detected in base frames and tracked in subsequent search frames. A new base frame is triggered when a number of features or a spatial distribution fall under thresholds. A depth processor reconstructs the depth and 3D position of each of the 2D features. A track manager manages a feature list database mapping the 2D coordinates of each tracked 2D feature with the 3D coordinate of that feature. A state manager constructs a filter state vector with 15 error states propagated at an IMU rate and 6 additional error states corresponding to clones of pose states. A visual updater utilizes the tracked 2D feature coordinates to update the filter state vector. A filter forms residuals and corrects inertial error drift.

Abstract: The tensioning device has a base element and a tension shoe which are connected using fork arms to the pivot axle. Retention surfaces on the base element and the tension shoe and a locking rib and locking channel provide a locking mechanism between the base element and tension shoe.

Abstract: A guide or tensioning rail in a traction mechanism drive is provided, wherein the guide or tensioning rail has a mounting eye with a sleeve. To simplify the assembly of the rail during assembly of the traction mechanism drive, the sleeve can be locked in the mounting eye.

Abstract: In a chain drive for an internal combustion engine, said chain drive comprising a driving wheel (2), a driven wheel (3), an endlessly circulating chain (1) that connects the driving wheel (2) and the driven wheel (3), a chain tensioner (9) acting on the slack strand (7) of the chain (1), and an additional tensioning device (12) that is loaded by a spring (13) and acts on the tight strand (6) of the chain (1) while being arranged for pivoting, a further driven wheel (4) is installed in the tight strand (6) of the chain drive and is used as a driving wheel for a rotatably mounted compensating shaft for offsetting free forces and moments that occur during operation of the internal combustion engine.

Abstract: In a chain drive for an internal combustion engine, said chain drive comprising a driving wheel (2), a driven wheel (3), an endlessly circulating chain (1) that connects the driving wheel (2) and the driven wheel (3), a chain tensioner (9) acting on the slack strand (7) of the chain (1), and an additional tensioning device (12) that is loaded by a spring (13) and acts on the tight strand (6) of the chain (1) while being arranged for pivoting, a further driven wheel (4) is installed in the tight strand (6) of the chain drive and is used as a driving wheel for a rotatably mounted compensating shaft for offsetting free forces and moments that occur during operation of the internal combustion engine.