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 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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Keyframe-based visual–inertial odometry using nonlinear optimization [PDF]
The International Journal of Robotics Research, 2014 Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate visual–inertial odometry or simultaneous localization and ...
Bosse, M +4 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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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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LRPL-VIO: A Lightweight and Robust Visual–Inertial Odometry with Point and Line Features [PDF]
SensorsVisual-inertial odometry (VIO) algorithms, fusing various features such as points and lines, are able to improve their performance in challenging scenes while the running time severely increases.
Feixiang Zheng +4 more
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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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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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Event-Based Visual/Inertial Odometry for UAV Indoor Navigation. [PDF]
Sensors (Basel)Indoor navigation is becoming increasingly essential for multiple applications. It is complex and challenging due to dynamic scenes, limited space, and, more importantly, the unavailability of global navigation satellite system (GNSS) signals.
Elamin A, El-Rabbany A, Jacob S.
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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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