Results 81 to 90 of about 1,555 (163)

Minimalist Visual Inertial Odometry

Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to planar odometry, demonstrating that just four visual measurements and an IMU can provide robust motion estimation for ...
Pasti, Francesco, Klotz, Jeremy, Bellotto, Nicola, Nayar, Shree K.   +3 more
openaire   +2 more sources

CKF-Based Visual Inertial Odometry for Long-Term Trajectory Operations

Journal of Robotics, 2020
The estimation error accumulation in the conventional visual inertial odometry (VIO) generally forbids accurate long-term operations. Some advanced techniques such as global pose graph optimization and loop closure demand relatively high computation and ...
Trung Nguyen, George K. I. Mann, Andrew Vardy, Raymond G. Gosine   +3 more
doaj   +1 more source

Tightly-Coupled Radar-Visual-Inertial Odometry

CoRR
Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges regarding robust operation in dark, low-texture, obscured environments complicate the use of such methods. Alternatively, Frequency Modulated Continuous Wave
Morten C. Nissov, Mohit Singh, Kostas Alexis   +2 more
openaire   +2 more sources

A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors

Sensors, 2016
State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping.
Yu Song, Stephen Nuske, Sebastian Scherer   +2 more
doaj   +1 more source

Structure-Invariant Range-Visual-Inertial Odometry

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The Mars Science Helicopter (MSH) mission aims to deploy the next generation of unmanned helicopters on Mars, targeting landing sites in highly irregular terrain such as Valles Marineris, the largest canyons in the Solar system with elevation variances of up to 8000 meters.
Alberico, Ivan, Delaune, Jeff, Cioffi, Giovanni, Scaramuzza, Davide   +3 more
openaire   +2 more sources

A Novel Cross-Attention-Based Pedestrian Visual–Inertial Odometry With Analyses Demonstrating Challenges in Dense Optical Flow

IEEE Journal of Indoor and Seamless Positioning and Navigation
Visual–inertial odometry (VIO), the fusion of visual and inertial sensor data, has been shown to be functional for navigation in global-navigation-satellite-system-denied environments.
Ilari Pajula, Niclas Joswig, Aiden Morrison, Nadia Sokolova, Laura Ruotsalainen   +4 more
doaj   +1 more source

Nonlinear Observer Design for Visual-Inertial Odometry

CoRR
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear velocity, and landmark positions within a consistent geometric framework tailored to the VIO problem.
Mouaad Boughellaba, Abdelhamid Tayebi 0001, James Richard Forbes, Soulaimane Berkane   +3 more
openaire   +2 more sources

A Distributed and Reconfigurable Architecture for Unified Multimodal Indoor Localization of a Mobile Edge Node in a Cyber-Physical Context

Robotics
Precise 3D positioning in GPS-denied environments is a critical enabler of autonomous robotics, industrial automation, and smart logistics within the emerging cyber-physical landscape.
Theodoros Papafotiou, Emmanouil Tsardoulias, Andreas Symeonidis   +2 more
doaj   +1 more source

Visual-Inertial-Wheel Odometry with Slip Compensation and Dynamic Feature Elimination

Sensors
Inertial navigation systems augmented with visual and wheel odometry measurements have emerged as a robust solution to address uncertainties in robot localization and odometry.
Niraj Reginald, Omar Al-Buraiki, Thanacha Choopojcharoen, Baris Fidan, Ehsan Hashemi   +4 more
doaj   +1 more source

Fusion localization for indoor airplane inspection using visual inertial odometry and ultrasonic RTLS. [PDF]

Sci Rep, 2023
Park I, Cho S.
europepmc   +1 more source