Results 131 to 140 of about 1,555 (163)

ATVIO: Attention Guided Visual-Inertial Odometry

ICASSP 2021 - 2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2021
Visual-inertial odometry (VIO) aims to predict trajectory by ego- motion estimation. In recent years, end-to-end VIO has made great progress. However, how to handle visual and inertial measurements and make full use of the complementarity of cameras and inertial sensors remains a challenge.
Li Liu, Ge Li 0002, Thomas H. Li
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Event-Based Visual Inertial Odometry

2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017
Event-based cameras provide a new visual sensing model by detecting changes in image intensity asynchronously across all pixels on the camera. By providing these events at extremely high rates (up to 1MHz), they allow for sensing in both high speed and high dynamic range situations where traditional cameras may fail. In this paper, we present the first
Alex Zihao Zhu, Nikolay Atanasov 0001, Kostas Daniilidis   +2 more
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Edge-based visual-inertial odometry

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
In this paper we propose a method for monocular visual-inertial odometry that utilizes image edges as measurements. In contrast to previous feature-based approaches, the proposed method does not employ any assumption on the geometry of the scene (e.g., it does not assume straight lines).
Hongsheng Yu, Anastasios I. Mourikis
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Information Sparsification in Visual-Inertial Odometry

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
In this paper, we present a novel approach to tightly couple visual and inertial measurements in a fixed-lag visual-inertial odometry (VIO) framework using information sparsification. To bound computational complexity, fixed-lag smoothers typically marginalize out variables, but consequently introduce a densely connected linear prior which ...
Jerry Hsiung, Ming Hsiao, Eric Westman, Rafael Valencia, Michael Kaess   +4 more
openaire   +1 more source

Compass aided visual-inertial odometry

Journal of Visual Communication and Image Representation, 2019
Abstract With the development of vision and optimization techniques, visual-inertial odometry (VIO) has shown the capability of motion estimating in the GNSS-denied condition. The VIO can provide absolute pitch and roll angles estimating value, but no the absolute azimuth. In the paper, we proposed a VIO aided by compass, which can obtain the azimuth
Yandong Wang, Tao Zhang, Yuanchao Wang, Jingwei Ma, Yanhui Li, Jingzhuang Han   +5 more
openaire   +1 more source

The First Attempt of SAR Visual-Inertial Odometry

IEEE Transactions on Geoscience and Remote Sensing, 2021
This article proposes a novel synthetic aperture radar visual-inertial odometry (SAR-VIO) consisting of an SAR and an inertial measurement unit (IMU), which aims to enable the observation platform to complete successfully a continuous observation mission in the context of low-cost demand and lack of enough navigation information.
Junbin Liu, Xiaolan Qiu, Chibiao Ding
openaire   +1 more source

Pose estimation by Omnidirectional Visual-Inertial Odometry

Robotics and Autonomous Systems, 2018
Abstract In this paper, a novel approach to ego-motion estimation is proposed based on visual and inertial sensors, named Omnidirectional Visual-Inertial Odometry (OVIO). The proposed approach combines omnidirectional visual features with inertial measurements within the Multi-State Constraint Kalman Filter (MSCKF).
Kourosh Khoshelham, Clive Fraser, Milad Ramezani   +2 more
exaly   +2 more sources

A Partial Sparsification Scheme for Visual-Inertial Odometry

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020
In this paper, we present a partial sparsification scheme for the marginalization of visual inertial odometry (VIO) systems. Sliding window optimization is widely used in VIO systems to guarantee constant complexity by optimizing over a set of recent states and marginalizing out past ones.
Zhikai Zhu, Wei Wang
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PennCOSYVIO: A challenging Visual Inertial Odometry benchmark

2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
We present PennCOSYVIO, a new challenging Visual Inertial Odometry (VIO) benchmark with synchronized data from a VI-sensor (stereo camera and IMU), two Project Tango hand-held devices, and three GoPro Hero 4 cameras. Recorded at UPenn's Singh center, the 150m long path of the hand-held rig crosses from outdoors to indoors and includes rapid rotations ...
Bernd Pfrommer, Nitin Sanket, Kostas Daniilidis, Jonas Cleveland   +3 more
openaire   +1 more source

A Fast Stereo Visual-Inertial Odometry for MAVs

2018 IEEE 14th International Conference on Control and Automation (ICCA), 2018
Motion estimation is one of the key perception problems for Micro Aerial Vehicles (MAVs). Recent developments based on visual-inertial sensors exhibit promising performance. In this paper, we propose a fast stereo-inertial odometry approach leveraging the advantages of both visual feature tracking and visual inertial fusion.
Yingcai Bi, Shupeng Lai, Ben M. Chen
openaire   +1 more source