Results 141 to 150 of about 1,555 (163)
Some of the next articles are maybe not open access.
Visual-Inertial Odometry with Point and Line Features
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019In this paper, we present a tightly-coupled monocular visual-inertial navigation system (VINS) using points and lines with degenerate motion analysis for 3D line triangulation. Based on line segment measurements from images, we propose two sliding window based 3D line triangulation algorithms and compare their performance.
Yulin Yang +3 more
openaire +1 more source
On-Manifold Preintegration for Real-Time Visual--Inertial Odometry [PDF]
IEEE Transactions on Robotics, 2017 Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time, this problem is further emphasized by the fact that inertial measurements come at high rate, hence leading to fast growth of ...
Davide Scaramuzza +2 more
exaly +4 more sources
Visual and Inertial Odometry for a Disaster Recovery Humanoid
2015Disaster recovery robots must operate in unstructured environments where wheeled or tracked motion may not be feasible or where it may be subject to extreme slip. Many industrial disaster scenarios also preclude reliance on gnss or other external signals as robots are deployed indoors or underground.
Michael David George +2 more
openaire +1 more source
Visual-Inertial-Wheel Odometry with Online Calibration
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020In this paper, we introduce a novel visual-inertial-wheel odometry (VIWO) system for ground vehicles, which efficiently fuses multi-modal visual, inertial and 2D wheel odometry measurements in a sliding-window filtering fashion. As multi-sensor fusion requires both intrinsic and extrinsic (spatiotemproal) calibration parameters which may vary over time
Woosik Lee 0003 +4 more
openaire +1 more source
Direct visual-inertial odometry with stereo cameras
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016We propose a novel direct visual-inertial odometry method for stereo cameras. Camera pose, velocity and IMU biases are simultaneously estimated by minimizing a combined photometric and inertial energy functional. This allows us to exploit the complementary nature of vision and inertial data.
Vladyslav Usenko +3 more
openaire +2 more sources
Visual inertial odometry for quadrotors on SE(3)
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016The combination of on-board sensors measurements with different statistical characteristics can be employed in robotics for localization and control, especially in GPS-denied environments. In particular, most aerial vehicles are packaged with low cost sensors, important for aerial robotics, such as camera, a gyroscope, and an accelerometer.
Giuseppe Loianno +2 more
openaire +1 more source
Photometric patch-based visual-inertial odometry
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017In this paper we present a novel direct visual-inertial odometry algorithm, for estimating motion in unknown environments. The algorithm utilizes image patches extracted around image features, and formulates measurement residuals in the image intensity space directly.
Xing Zheng +3 more
openaire +1 more source
Monocular Visual-Inertial Odometry with Planar Regularities
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023Chuchu Chen +4 more
openaire +1 more source
LiDAR-Visual-Inertial Odometry Based on Optimized Visual Point-Line Features
Remote Sensing, 2022Wang Gao, Shuguo Pan, Pan Shuguo
exaly
Quantized Visual-Inertial Odometry
2024 IEEE International Conference on Robotics and Automation (ICRA)Yuxiang Peng +2 more
openaire +1 more source