Related papers: LINS: A Lidar-Inertial State Estimator for Robust …
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
The traditional GNSS-aided inertial navigation system (INS) usually exploits the extended Kalman filter (EKF) for state estimation, and the initial attitude accuracy is key to the filtering performance. To spare the reliance on the initial…
We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is an alternative to recent works using a similar model together with an Extended…
Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…
This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…
This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped robot navigation. The proposed state estimator builds upon our…
We present a novel recursive Bayesian estimation framework using B-splines for continuous-time 6-DoF dynamic motion estimation. The state vector consists of a recurrent set of position control points and orientation control point…
This paper presents an algorithm to improve state estimation for legged robots. Among existing model-based state estimation methods for legged robots, the contact-aided invariant extended Kalman filter defines the state on a Lie group to…
This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem in…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
State estimation is the cornerstone of the power system control center since it provides the operating condition of the system in consecutive time intervals. This work investigates the application of physics-informed neural networks (PINNs)…
In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encounter significant practical challenges in perceptually…
State estimation for robots navigating in GPS-denied and perceptually-degraded environments, such as underground tunnels, mines and planetary subsurface voids, remains challenging in robotics. Towards this goal, we present LION…
This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loop configuration together with measurements from a laser…
Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry…
The task of strapdown inertial navigation system (SINS) initial alignment is to calculate the attitude transformation matrix from body frame to navigation frame. In this paper, such attitude transformation matrix is divided into two parts…
We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution, Cerberus, for legged robots that estimates position precisely on various terrains in real time using a set of standard sensors, including stereo…