Robocentric Visual-Inertial Odometry [PDF]
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 In this paper, we propose a novel robocentric formulation of the visual–inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual–inertial odometry (R-VIO) algorithm for consistent motion tracking even in challenging environments using only a monocular camera and a six-axis ...
Zheng Huai, Guoquan Huang 0001
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Mix-VIO: A Visual Inertial Odometry Based on a Hybrid Tracking Strategy [PDF]
SensorsKe Han
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INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY [PDF]
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2017 Indoor positioning is a fundamental requirement of many indoor location-based services and applications. In this paper, we explore the potential of low-cost and widely available visual and inertial sensors for indoor positioning.
M. Ramezani +3 more
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Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles
Robotics, 2021 In this paper, we present a novel method for visual-inertial odometry for land vehicles. Our technique is robust to unintended, but unavoidable bumps, encountered when an off-road land vehicle traverses over potholes, speed-bumps or general change in ...
Bismaya Sahoo +2 more
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Online Spatial and Temporal Calibration for Monocular Direct Visual-Inertial Odometry [PDF]
Sensors, 2019 Li Jianwen
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ROBUST VISUAL-INERTIAL ODOMETRY IN DYNAMIC ENVIRONMENTS USING SEMANTIC SEGMENTATION FOR FEATURE SELECTION [PDF]
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2020 Camera based navigation in dynamic environments with high content of moving objects is challenging. Keypoint-based localization methods need to reliably reject features that do not belong to the static background.
P. Irmisch, D. Baumbach, I. Ernst
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EqVIO: An Equivariant Filter for Visual-Inertial Odometry
IEEE Transactions on Robotics, 2023 Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great interest to the robotics community. This paper develops a novel Lie group symmetry for the VIO problem and applies the recently proposed equivariant filter. The proposed symmetry
Pieter van Goor, Robert E. Mahony
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OL-SLAM: A Robust and Versatile System of Object Localization and SLAM
Sensors, 2023 This paper proposes a real-time, versatile Simultaneous Localization and Mapping (SLAM) and object localization system, which fuses measurements from LiDAR, camera, Inertial Measurement Unit (IMU), and Global Positioning System (GPS).
Chao Chen +6 more
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Low drift visual inertial odometry with UWB aided for indoor localization
IET Communications, 2022 Visual inertial odometry (VIO) would have an estimation drift problem in the process of long trajectory for indoor localization, especially in the absence of loop detection or in unknown complex scenes.
Bo Gao +3 more
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Visual inertial odometry and lidar inertial odometry for mobile robot [PDF]
, 2021 Municipal infrastructure inspection and maintenance are vital to keep the integrity and safe operation of large-scale infrastructure such as pipelines, bridges and tunnels. For example, regular inspection and assessment of tunnels are essential to prevent any possible leakage or worse, collapse.
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