Related papers: DeepTIO: A Deep Thermal-Inertial Odometry with Vis…
Event stereo matching is an emerging technique to estimate depth from neuromorphic cameras; however, events are unlikely to trigger in the absence of motion or the presence of large, untextured regions, making the correspondence problem…
This paper proposes a novel algorithm for multi-focus thermal image fusion. The algorithm is based on local activity analysis and advanced pre-selection of images into fusion process. The algorithm improves the object temperature…
This paper introduces pixel-wise prediction based visual odometry (PWVO), which is a dense prediction task that evaluates the values of translation and rotation for every pixel in its input observations. PWVO employs uncertainty estimation…
Monocular visual-inertial odometry (VIO) is a low-cost solution to provide high-accuracy, low-drifting pose estimation. However, it has been meeting challenges in vehicular scenarios due to limited dynamics and lack of stable features. In…
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…
We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial odometry methods rely on handcrafted…
The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based localization techniques perform well in environments where…
Fire is considered one of the most serious threats to human lives which results in a high probability of fatalities. Those severe consequences stem from the heavy smoke emitted from a fire that mostly restricts the visibility of escaping…
In this research work, we have proposed a thermal tiny-YOLO multi-class object detection (TTYMOD) system as a smart forward sensing system that should remain effective in all weather and harsh environmental conditions using an end-to-end…
This paper presents a visual-inertial odometry (VIO) method using long-tracked features. Long-tracked features can constrain more visual frames, reducing localization drift. However, they may also lead to accumulated matching errors and…
Traditional monocular Visual-Inertial Odometry (VIO) systems struggle in low-texture environments where sparse visual features are insufficient for accurate pose estimation. To address this, dense Monocular Depth Estimation (MDE) has been…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
Thermal analysis is crucial in 3D-IC design due to increased power density and complex heat dissipation paths. Although operator learning frameworks such as DeepOHeat~\cite{liu2023deepoheat} have demonstrated promising preliminary results…
Accurate modeling of infrasound transmission loss is essential for evaluating the performance of the International Monitoring System, enabling the effective design and maintenance of infrasound stations to support compliance of the…
This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The…
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
We introduce visual hints expansion for guiding stereo matching to improve generalization. Our work is motivated by the robustness of Visual Inertial Odometry (VIO) in computer vision and robotics, where a sparse and unevenly distributed…
There has been extensive research on visual localization and odometry for autonomous robots and virtual reality during the past decades. Traditionally, this problem has been solved with the help of expensive sensors, such as lidars.…
Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based exploration on future Mars helicopter missions. However,…