Results 191 to 200 of about 23,972 (233)

Event-and Frame-Based Visual-Inertial Odometry With Adaptive Filtering Based on 8-DOF Warping Uncertainty

IEEE Robotics and Automation Letters
In this letter, we present an event- and frame-based visual-inertial odometry (VIO) algorithm that fuses frames, events, and inertial measurement in a robust and adaptive manner.
Min-Seok Lee, J. Jung, Yejun Kim, Chan Gook Park   +3 more
semanticscholar   +1 more source

A Novel Visual Inertial Odometry Based on Interactive Multiple Model and Multistate Constrained Kalman Filter

IEEE Transactions on Instrumentation and Measurement
High-accuracy positioning information plays an important role in the field of autonomous driving, where both the visual and inertial sensors have been widely noticed because of the virtue that they do not rely on external information.
Wei Sun, Yadan Li, Wei Ding, Jingang Zhao   +3 more
semanticscholar   +1 more source

RVIO: An Effective Localization Algorithm for Range-Aided Visual-Inertial Odometry System

IEEE transactions on intelligent transportation systems (Print)
This paper presents an efficient and accurate range-aided visual-inertial odometry (RVIO) system for the global positioning system denied environment. In particular, the ultra-wideband (UWB) measurements are integrated to reduce the long-term drift of ...
Jun Wang, Pengfei Gu, Lei Wang, Ziyang Meng   +3 more
semanticscholar   +1 more source

Point–Line Visual–Inertial Odometry With Optimized Line Feature Processing

IEEE Transactions on Instrumentation and Measurement
Visual-inertial odometry (VIO) utilizing point and line features has become prevalent for state estimation in structured environments. The robustness of line segment detection and the efficiency of line feature matching significantly impact pose ...
Hanqian Si, Huai Yu, Kuangyi Chen, Wen Yang   +3 more
semanticscholar   +1 more source

Low Latency Visual Inertial Odometry With On-Sensor Accelerated Optical Flow for Resource-Constrained UAVs

IEEE Sensors Journal
Visual inertial odometry (VIO) is the task of estimating the movement trajectory of an agent from an onboard camera stream fused with additional inertial measurement unit (IMU) measurements. A crucial subtask within VIO is the tracking of features, which
Jonas Kühne, Michele Magno, Luca Benini
semanticscholar   +1 more source

Ct-LVI: A Framework Toward Continuous-Time Laser-Visual-Inertial Odometry and Mapping

IEEE transactions on circuits and systems for video technology (Print)
Owing to the inherent complementarity among LiDAR, camera, and IMU, a growing effort has been paid to laser-visual-inertial SLAM recently. The existing approaches, however, are limited in two aspects.
Zhong Wang, Lin Zhang, Shengjie Zhao, Yicong Zhou   +3 more
semanticscholar   +1 more source

Dynam-LVIO: A Dynamic-Object-Aware LiDAR Visual Inertial Odometry in Dynamic Urban Environments

IEEE Transactions on Instrumentation and Measurement
For most existing simultaneous localization and mapping (SLAM) systems, the surroundings of autonomous vehicle are assumed to be static, which is impractical in urban environments and compromises the effectiveness of existing SLAM algorithms.
Jian Shi, Wei Wang, Mingyang Qi, Xin Li, Ye Yan   +4 more
semanticscholar   +1 more source

FLM PL-VIO: A Robust Monocular Point-Line Visual-Inertial Odometry Based on Fast Line Matching

IEEE transactions on industrial electronics (1982. Print)
This article proposes a monocular point-line visual-inertial odometry (VIO) with line filtering and fast line matching (FLM PL-VIO), improving the localization accuracy and robustness. Different from the existing point-line VIO frameworks, we construct a
Shuyue Lin, Xuetao Zhang, Yisha Liu, Hanzhang Wang, Xuebo Zhang, Zhuang Yan   +5 more
semanticscholar   +1 more source

Control-enabled observability in visual-inertial odometry

2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017
Visual-inertial odometry (VIO) is a nonlinear estimation problem where control inputs, such as acceleration and angular velocity, play a significant role in the estimation performance. In this paper, we examine effects of controls on the VIO problem. We first analyze the effects of acceleration and angular velocity inputs on state observability of the ...
He Bai, Clark N. Taylor
openaire   +1 more source

SG-VIO: Monocular Visual-Inertial Odometry With Tightly Coupled Structural Lines and Gravity to Avoid Degeneracy

IEEE Internet of Things Journal
Visual-inertial odometry (VIO) has played an important role in the field of the Internet of Things, providing a variety of devices and systems with high-precision and reliable positioning and navigation capabilities.
Hexiong Yao, Yuexin Ma, Peijing Li, Chunlei Zhai, Jiangbo Song, Mingjun Ouyang, Zhiqiang Dai, Xiangwei Zhu   +7 more
semanticscholar   +1 more source