REVIO: Range- and Event-Based Visual-Inertial Odometry for Bio-Inspired Sensors [PDF]
Biomimetics, 2022 Visual-inertial odometry is critical for Unmanned Aerial Vehicles (UAVs) and robotics. However, there are problems of motion drift and motion blur in sharp brightness changes and fast-motion scenes.
Yingxun Wang +4 more
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ESVIO: Event-Based Stereo Visual-Inertial Odometry [PDF]
Sensors, 2023 The emerging event cameras are bio-inspired sensors that can output pixel-level brightness changes at extremely high rates, and event-based visual-inertial odometry (VIO) is widely studied and used in autonomous robots. In this paper, we propose an event-
Zhe Liu +3 more
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Stereo Direct Sparse Visual–Inertial Odometry with Efficient Second-Order Minimization [PDF]
SensorsVisual–inertial odometry (VIO) is the primary supporting technology for autonomous systems, but it faces three major challenges: initialization sensitivity, dynamic illumination, and multi-sensor fusion.
Chenhui Fu, Jiangang Lu
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Stereo Event-Based Visual–Inertial Odometry [PDF]
SensorsEvent-based cameras are a new type of vision sensor in which pixels operate independently and respond asynchronously to changes in brightness with microsecond resolution, instead of providing standard intensity frames.
Kunfeng Wang +3 more
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Robust Stereo Visual-Inertial Odometry Using Nonlinear Optimization [PDF]
Sensors, 2019 The fusion of visual and inertial odometry has matured greatly due to the complementarity of the two sensors. However, the use of high-quality sensors and powerful processors in some applications is difficult due to size and cost limitations, and there ...
Shujun Ma +3 more
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Plane-Aided Visual-Inertial Odometry for 6-DOF Pose Estimation of a Robotic Navigation Aid [PDF]
IEEE Access, 2020 The classic visual-inertial odometry (VIO) method estimates the 6-DOF pose of a moving camera by fusing the camera's ego-motion estimated by visual odometry (VO) and the motion measured by an inertial measurement unit (IMU).
He Zhang, Cang Ye
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PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features [PDF]
Sensors, 2018 To address the problem of estimating camera trajectory and to build a structural three-dimensional (3D) map based on inertial measurements and visual observations, this paper proposes point–line visual–inertial odometry (PL-VIO), a tightly-coupled ...
Yijia He +4 more
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Visual-LiDAR Odometry Aided by Reduced IMU
ISPRS International Journal of Geo-Information, 2016 This paper proposes a method for combining stereo visual odometry, Light Detection And Ranging (LiDAR) odometry and reduced Inertial Measurement Unit (IMU) including two horizontal accelerometers and one vertical gyro.
Yashar Balazadegan Sarvrood +2 more
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VINS-MKF: A Tightly-Coupled Multi-Keyframe Visual-Inertial Odometry for Accurate and Robust State Estimation [PDF]
Sensors, 2018 State estimation is crucial for robot autonomy, visual odometry (VO) has received significant attention in the robotics field because it can provide accurate state estimation.
Chaofan Zhang +4 more
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Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
IEEE Robotics and Automation Letters, 2018 In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for applications in ...
Ke Sun, Kartik Mohta, Bernd Pfrommer
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