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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 ...
Christian Förster, Luca Carlone, Davide Scaramuzza   +2 more
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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
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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
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Visual and Inertial Odometry for a Disaster Recovery Humanoid

2015
Disaster 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, Jean-Philippe Tardif, Alonzo Kelly   +2 more
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Visual-Inertial-Wheel Odometry with Online Calibration

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
In 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, Kevin Eckenhoff, Yulin Yang, Patrick Geneva, Guoquan Huang 0001   +4 more
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Direct visual-inertial odometry with stereo cameras

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
We 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, Jakob J. Engel, Jörg Stückler, Daniel Cremers   +3 more
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Visual-Inertial Odometry with Point and Line Features

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
In 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, Patrick Geneva, Kevin Eckenhoff, Guoquan Huang 0001   +3 more
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Visual inertial odometry for quadrotors on SE(3)

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
The 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, Michael Watterson, Vijay Kumar 0001   +2 more
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Photometric patch-based visual-inertial odometry

2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
In 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, Zack Moratto, Mingyang Li 0001, Anastasios I. Mourikis   +3 more
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Minimalist Visual Inertial Odometry

Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to planar odometry, demonstrating that just four visual measurements and an IMU can provide robust motion estimation for ...
Pasti, Francesco, Klotz, Jeremy, Bellotto, Nicola, Nayar, Shree K.   +3 more
openaire   +1 more source