Results 21 to 30 of about 2,723 (200)
An Equivariant Filter for Visual Inertial Odometry [PDF]
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 11 pages, 3 figures, to be published as {van Goor, P., Mahony, R.. (2021). An Equivariant Filter for Visual Inertial Odometry. 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020.}
Pieter van Goor, Robert E. Mahony
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F-LVINS: Flexible Lidar-Visual-Inertial Odometry Systems
IEEE Access, 2023 The development of a new system called Flexible Lidar-Visual-Inertial Odometry (F-LVINS) offers improved localization accuracy even in challenging environments.
Xiang-Shi Tang, Teng-Hu Cheng
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Multi-Sensor Fusion Self-Supervised Deep Odometry and Depth Estimation
Remote Sensing, 2022 This paper presents a new deep visual-inertial odometry and depth estimation framework for improving the accuracy of depth estimation and ego-motion from image sequences and inertial measurement unit (IMU) raw data.
Yingcai Wan +4 more
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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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Learned Inertial Odometry for Autonomous Drone Racing [PDF]
, 2023 Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation.
Cioffi, Giovanni +3 more
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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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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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