Results 61 to 70 of about 2,723 (200)

Control System for the Navigation of the Agricultural Robots: A Review

Journal of Field Robotics, EarlyView.
ABSTRACT Control systems for the navigation of autonomous agricultural robots—particularly those operating in uneven terrain and in the presence of static or dynamic obstacles—have advanced considerably in recent years. As conventional machinery evolves toward increasingly automated systems, the design of reliable navigation controllers has become ...
Edna Carolina Moriones Polanía, Hugo Rafacho Fernandes, Daniel Albiero, Angel Pontin Garcia   +3 more
wiley   +1 more source

SATVIO : Stereo Attention-based Visual Inertial Odometry [PDF]

This study introduces a novel stereo attention-based visual inertial odometry model, namely, SATVIO, aiming to enhance odometry performance by leveraging deep learning techniques for sensor fusion. The research evaluates the SATVIO model against existing
Doorshi, Raoof, Saleem, Hajira, Malekian, Reza   +2 more
core   +1 more source

Dense realtime visual-inertial odometry [PDF]

, 2023
For mobile robots, the quality of the executed mission directly depends on the quality of the estimated internal state. This is especially relevant for unmanned aerial vehicles (UAVs) as both translation and rotation needs to be estimated in three ...
Hardt-Stremayr, Alexander
core  

The Evolution of Autonomous Systems for Planetary Cave Exploration: A Review

Journal of Field Robotics, EarlyView.
ABSTRACT The exploration of Subsurface Access Points (SAPs), such as lava tubes on the Moon and Mars, has gained significant interest due to their potential as stable environments shielded from surface radiation and temperature extremes. These sites are considered high‐value targets for detecting water and signs of ancient life, and assessing their ...
Sarah Swinton, Daniel Mitchell, Jamie Blanche, Euan McGookin, David Flynn   +4 more
wiley   +1 more source

Direct visual-inertial odometry with semi-dense mapping [PDF]

Computers & Electrical Engineering, 2018
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU) pre-integration, and a factor graph optimization is adapted to estimate the pose of the camera and rebuild a semi ...
Wenju Xu, Dongkyu Choi, Guanghui Wang 0001   +2 more
openaire   +2 more sources

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot posture, in particular base height. In this paper, we propose a novel approach for combining visual-inertial odometry (
Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler   +10 more
openaire   +4 more sources

Unsupervised Depth Completion From Visual Inertial Odometry [PDF]

IEEE Robotics and Automation Letters, 2020
We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to few thousand points, insufficient to inform the topology of the scene.
Alex Wong 0001, Xiaohan Fei, Stephanie Tsuei, Stefano Soatto   +3 more
openaire   +2 more sources

Towards Robust Visual Inertial Odometry in Feature Sparse Structured Environments [PDF]

, 2023
In conventional Visual Odometry (VO), featureless scenarios, such as facing uniformly textured walls often lead to failure or reliance on fused inertial tracking. Depending on sensor quality, calibration and initialization, this can cause severe drift of
Ruotsalainen, Laura, Sokkolova, Nadeza, Joswig, Niclas, Morrison, Aiden   +3 more
core   +1 more source

Deep Reinforcement Learning Based Autonomous Decision‐Making for Cooperative Uncrewed Aerial Vehicles: A Search and Rescue Real World Application

Journal of Field Robotics, EarlyView.
ABSTRACT This paper presents the first end‐to‐end framework that combines guidance, navigation, and centralized task allocation for multiple UAVs performing autonomous search‐and‐rescue (SAR) in GNSS‐denied indoor environments. A twin delayed deep deterministic policy gradient controller is trained with an artificial potential field (APF) reward that ...
Thomas Hickling, Maxwell Hogan, Abdulla Tammam, Nabil Aouf   +3 more
wiley   +1 more source

Environmental-structure-perception-based adaptive pose fusion method for LiDAR-visual-inertial odometry

International Journal of Advanced Robotic Systems
Light Detection and Ranging (LiDAR)-visual-inertial odometry can provide accurate poses for the localization of unmanned vehicles working in unknown environments in the absence of Global Positioning System (GPS).
Zixu Zhao, Chang Liu, Wenyao Yu, Jinglin Shi, Dalin Zhang   +4 more
doaj   +1 more source