Automatic Extrinsic Calibration of 3D LIDAR and Multi-Cameras Based on Graph Optimization [PDF]
Sensors, 2022 In recent years, multi-sensor fusion technology has made enormous progress in 3D reconstruction, surveying and mapping, autonomous driving, and other related fields, and extrinsic calibration is a necessary condition for multi-sensor fusion applications.
Jinshun Ou +4 more
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UAV Localization Algorithm Based on Factor Graph Optimization in Complex Scenes. [PDF]
Sensors (Basel), 2022 With the increasingly widespread application of UAV intelligence, the need for autonomous navigation and positioning is becoming more and more important.
Dai J, Liu S, Hao X, Ren Z, Yang X.
europepmc +2 more sources
A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization
Remote Sensing, 2021 LiDAR (light detection and ranging), as an active sensor, is investigated in the simultaneous localization and mapping (SLAM) system. Typically, a LiDAR SLAM system consists of front-end odometry and back-end optimization modules.
Shoubin Chen +4 more
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Graph Optimization Model Fusing BLE Ranging with Wi-Fi Fingerprint for Indoor Positioning [PDF]
Sensors, 2022 To improve the user’s positioning accuracy of a Wi-Fi fingerprint-based positioning algorithm, this study proposes a graph optimization model based on the framework of g2o that fuses a Wi-Fi fingerprint and Bluetooth Low Energy (BLE) ranging technologies.
Rong Zhou +3 more
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Crowdsourcing-Based Indoor Semantic Map Construction and Localization Using Graph Optimization [PDF]
Sensors, 2022 The advancement of smartphones with multiple built-in sensors facilitates the development of crowdsourcing-based indoor map construction and localization.
Chao Li +3 more
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Distributed Certifiably Correct Pose-Graph Optimization. [PDF]
IEEE Trans Robot, 2021 This article presents the first certifiably correct algorithm for distributed pose-graph optimization (PGO), the backbone of modern collaborative simultaneous localization and mapping (CSLAM) and camera network localization (CNL) systems.
Tian Y, Khosoussi K, Rosen DM, How JP.
europepmc +3 more sources
Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features. [PDF]
Sensors (Basel), 2021 Although visual SLAM (simultaneous localization and mapping) methods obtain very accurate results using optimization of residual errors defined with respect to the matching features, the SLAM systems based on 3-D laser (LiDAR) data commonly employ ...
Ćwian K +3 more
europepmc +2 more sources
DiT-SLAM: Real-Time Dense Visual-Inertial SLAM with Implicit Depth Representation and Tightly-Coupled Graph Optimization [PDF]
Sensors, 2022 Recently, generating dense maps in real-time has become a hot research topic in the mobile robotics community, since dense maps can provide more informative and continuous features compared with sparse maps. Implicit depth representation (e.g., the depth
Mingle Zhao +4 more
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A Study on Graph Optimization Method for GNSS/IMU Integrated Navigation System Based on Virtual Constraints [PDF]
SensorsIn GNSS/IMU integrated navigation systems, factors like satellite occlusion and non-line-of-sight can degrade satellite positioning accuracy, thereby impacting overall navigation system results.
Haiyang Qiu +3 more
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DOT-SLAM: A Stereo Visual Simultaneous Localization and Mapping (SLAM) System with Dynamic Object Tracking Based on Graph Optimization [PDF]
SensorsMost visual simultaneous localization and mapping (SLAM) systems are based on the assumption of a static environment in autonomous vehicles. However, when dynamic objects, particularly vehicles, occupy a large portion of the image, the localization ...
Yuan Zhu +5 more
doaj +2 more sources