Results 171 to 180 of about 23,972 (233)

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
openaire   +1 more source

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, Kostas Daniilidis   +2 more
openaire   +1 more source

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, Thomas H Li
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

PO-KF: A Pose-Only Representation-Based Kalman Filter for Visual Inertial Odometry

IEEE Internet of Things Journal
Visual-inertial state estimation is widely employed in the Internet of Things, with filter-based visual-inertial odometry (VIO) being a popular algorithm due to its balance between computational efficiency and localization accuracy.
Liqiang Wang, Hailiang Tang, Tisheng Zhang, Yan Wang, Quan Zhang, Xiaoji Niu   +5 more
semanticscholar   +1 more source

Optimization Based Mono-Visual Inertial Odometry

2018 5th International Conference on Information Science and Control Engineering (ICISCE), 2018
Visual-inertial odometry has exerted a variety of promising applications in the robotics and computer vision society due to their complementary nature in terms of both accuracy and quick response. This paper presents a novel odometry approach using monocular camera measurements and inertial cues.
Zhengyi Hu, Qingchang Tan
openaire   +1 more source

Voxel-SVIO: Stereo Visual-Inertial Odometry Based on Voxel Map

IEEE Robotics and Automation Letters
In visual-inertial odometry (VIO) systems, allocating limited computational resources to constraints for new frames is more conducive to enhancing the accuracy of state estimation, as old frames have already undergone multiple updates.
Zikang Yuan, Fengtian Lang, Jie Deng, Hongcheng Luo, Xin Yang   +4 more
semanticscholar   +1 more source

TEVIO: Thermal-Aided Event-Based Visual–Inertial Odometry for Robust State Estimation in Challenging Environments

IEEE Transactions on Instrumentation and Measurement
Event-based visual odometry (VO) excels in high-dynamic-range scenarios but struggles in extremely low-light or low-contrast conditions, motivating the integration of thermal imaging.
Gu Gong, Fuji Hu, Fangyuan Wang, Muhammed Muddassir, Peng Zhou, Lu Li, Qiang Wang, Zhen He, D. Navarro-Alarcón   +8 more
semanticscholar   +1 more source

Aerial Visual-Inertial Odometry Performance Evaluation

ION Pacific PNT, 2017
With the cheapening of optical camera technology, computer vision-based navigation algorithms have grown in popularity. Given the proliferation of optical alternative navigation techniques, such as Visual Odometry (VO), it is necessary to evaluate these algorithms in a way where they can be compared on common ground.
Daniel J. Carson, John F. Raquet, Kyle J. Kauffman   +2 more
openaire   +1 more source

Progressive Multi-Modal Semantic Segmentation Guided SLAM Using Tightly-Coupled LiDAR-Visual-Inertial Odometry

IEEE transactions on intelligent transportation systems (Print)
Simultaneous localization and mapping (SLAM) is a critical component of autonomous vehicles, which can estimate their current pose and construct a precision map of the environment.
Hanbiao Xiao, Zhaozheng Hu, Chen Lv, Jie Meng, Jianan Zhang, J. You   +5 more
semanticscholar   +1 more source