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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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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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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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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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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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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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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RISE-VIO: Robust Initialization and Targeted Pose Robustification for INS-Centric Visual–Inertial Odometry Under Degraded Visual Conditions [PDF]
SensorsFeature-based visual–inertial odometry (VIO) often suffers from initialization failures and tracking drift under degraded visual conditions, such as low-texture regions, abrupt illumination changes, and scenes with a high ratio of dynamic correspondences.
Xiaowei Xu +3 more
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RGB-Based Visual–Inertial Odometry via Knowledge Distillation from Self-Supervised Depth Estimation with Foundation Models [PDF]
SensorsAutonomous driving represents a transformative advancement with the potential to significantly impact daily mobility, including enabling independent vehicle operation for individuals with visual disabilities.
Jimin Song, Sang Jun Lee
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