Results 41 to 50 of about 23,972 (233)
Visual-Inertial Mapping with Non-Linear Factor Recovery
, 2020 Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust.
Cremers, Daniel +4 more
core +1 more source
Unsupervised Monocular Visual-inertial Odometry Network [PDF]
Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence, 2020 Recently, unsupervised methods for monocular visual odometry (VO), with no need for quantities of expensive labeled ground truth, have attracted much attention. However, these methods are inadequate for long-term odometry task, due to the inherent limitation of only using monocular visual data and the inability to handle the error accumulation problem.
Peng Wei +4 more
openaire +1 more source
Visual-LiDAR Odometry Aided by Reduced IMU
ISPRS International Journal of Geo-Information, 2016 This paper proposes a method for combining stereo visual odometry, Light Detection And Ranging (LiDAR) odometry and reduced Inertial Measurement Unit (IMU) including two horizontal accelerometers and one vertical gyro.
Yashar Balazadegan Sarvrood +2 more
doaj +1 more source
Continuous-Time Spline Visual-Inertial Odometry
2022 International Conference on Robotics and Automation (ICRA), 2022 We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which are compared to the measurements from the inertial measurement unit (IMU) for optimal state estimation. The spline
Mo, Jiawei, Sattar, Junaed
openaire +2 more sources
STELVIO: Exploring Factor Graphs for a Robust Stereo-Visual-LiDAR-Inertial Odometry [PDF]
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information SciencesAccurate and robust odometry is critical for mobile mapping and autonomous navigation, particularly in complex environments where single-sensor approaches struggle.
P. Trybała +5 more
doaj +1 more source
Improved Point–Line Visual–Inertial Odometry System Using Helmert Variance Component Estimation
Remote Sensing, 2020 Mobile platform visual image sequence inevitably has large areas with various types of weak textures, which affect the acquisition of accurate pose in the subsequent platform moving process. The visual–inertial odometry (VIO) with point features and line
Bo Xu +3 more
doaj +1 more source
Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing [PDF]
, 2019 Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore.
Dosovitskiy, Alexey +6 more
core +1 more source
Semi-Direct Point-Line Visual Inertial Odometry for MAVs
Applied Sciences, 2022 Traditional Micro-Aerial Vehicles (MAVs) are usually equipped with a low-cost Inertial Measurement Unit (IMU) and monocular cameras, how to achieve high precision and high reliability navigation under the framework of low computational complexity is the ...
Bo Gao, Baowang Lian, Chengkai Tang
doaj +1 more source
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight [PDF]
IEEE Robotics and Automation Letters, 2017 In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for applications in ...
Ke Sun +7 more
semanticscholar +1 more source
Remote Sensing, 2023 Accurate and robust localization using multi-modal sensors is crucial for autonomous driving applications. Although wheel encoder measurements can provide additional velocity information for visual-inertial odometry (VIO), the existing visual-inertial ...
Meixia Zhi +5 more
doaj +1 more source