Results 81 to 90 of about 6,077 (166)

Deep learning based monocular visual-inertial odometry

, 2020
Autonomous vehicles require knowing their state in the environment to make a decision and achieve their desired goal. The Visual-Inertial Odometry (VIO) system is one of the most significant modules of autonomous vehicles.
Mahdi Abolfazli Esfahani
core   +1 more source

Dense realtime visual-inertial odometry

, 2023
For mobile robots, the quality of the executed mission directly depends on the quality of the estimated internal state. This is especially relevant for unmanned aerial vehicles (UAVs) as both translation and rotation needs to be estimated in three ...
Hardt-Stremayr, Alexander
core  

CKF-Based Visual Inertial Odometry for Long-Term Trajectory Operations

Journal of Robotics, 2020
The estimation error accumulation in the conventional visual inertial odometry (VIO) generally forbids accurate long-term operations. Some advanced techniques such as global pose graph optimization and loop closure demand relatively high computation and ...
Trung Nguyen, George K. I. Mann, Andrew Vardy, Raymond G. Gosine   +3 more
doaj   +1 more source

Towards Robust Visual Inertial Odometry in Feature Sparse Structured Environments

, 2023
In conventional Visual Odometry (VO), featureless scenarios, such as facing uniformly textured walls often lead to failure or reliance on fused inertial tracking. Depending on sensor quality, calibration and initialization, this can cause severe drift of
Ruotsalainen, Laura, Sokkolova, Nadeza, Joswig, Niclas, Morrison, Aiden   +3 more
core   +1 more source

A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors

Sensors, 2016
State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping.
Yu Song, Stephen Nuske, Sebastian Scherer   +2 more
doaj   +1 more source

High altitude stereo visual odometry

, 2013
Stereo visual odometry has received little investigation in high altitude applications due to the generally poor performance of rigid stereo rigs at extremely small baseline-to-depth ratios. Without additional sensing, metric scale is considered lost and
Warren, Michael, Upcroft, Ben, Michael Warren, Ben Upcroft   +3 more
core   +1 more source

A Novel Cross-Attention-Based Pedestrian Visual–Inertial Odometry With Analyses Demonstrating Challenges in Dense Optical Flow

IEEE Journal of Indoor and Seamless Positioning and Navigation
Visual–inertial odometry (VIO), the fusion of visual and inertial sensor data, has been shown to be functional for navigation in global-navigation-satellite-system-denied environments.
Ilari Pajula, Niclas Joswig, Aiden Morrison, Nadia Sokolova, Laura Ruotsalainen   +4 more
doaj   +1 more source

Towards Semi-Dense Indirect Visual-Inertial Odometry [PDF]

, 2018
In this work, we focus on motion estimation in unknown environments using measurements provided by an inertial measurement unit (IMU) and a monocular camera. We are interested in estimating the trajectory of a moving platform, a problem typically termed
Yu, Hongsheng
core  

A Distributed and Reconfigurable Architecture for Unified Multimodal Indoor Localization of a Mobile Edge Node in a Cyber-Physical Context

Robotics
Precise 3D positioning in GPS-denied environments is a critical enabler of autonomous robotics, industrial automation, and smart logistics within the emerging cyber-physical landscape.
Theodoros Papafotiou, Emmanouil Tsardoulias, Andreas Symeonidis   +2 more
doaj   +1 more source

Design and implementation of a visual-inertial odometry system with visual-inertial sensors on a SoC computational architecture [PDF]

, 2018
Diseño e implementación de un algoritmo de odometría visual parcial para el mapeo y localización de un dron en el espacio.Design and implementation of an algorithm of visual inertial odometry for mapping and location of a drone in space.Magíster en ...
Rodríguez Roldán, Juan Manuel
core   +1 more source