Related papers: DIDO: Deep Inertial Quadrotor Dynamical Odometry
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the…
The MARWIN robot operates at the European XFEL to perform autonomous radiation monitoring in long, monotonous accelerator tunnels where conventional localization approaches struggle. Its current navigation concept combines lidar-based edge…
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…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration of the time offset between these two sensor types is a…
For distributed estimations in a sensor network, the consistency and accuracy of an estimator are greatly affected by the unknown correlations between individual estimates. An inconsistent or too conservative estimate may degrade the…
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturbances, as large linearization errors can…
Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it.…
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…
Iterative detection and decoding (IDD) is known to achieve near-capacity performance in multi-antenna wireless systems. We propose deep-unfolded interleaved detection and decoding (DUIDD), a new paradigm that reduces the complexity of IDD…
This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF). The highly nonlinear navigation kinematics are formulated…
Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…
Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsupervised learning for odometry estimation but mostly for visual…
This paper presents a novel method for attitude estimation of an object in 3D space by incremental learning of the Long-Short Term Memory (LSTM) network. Gyroscope, accelerometer, and magnetometer are few widely used sensors in attitude…
This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…
We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions, degrade inertial observability and cause frequent tracking…
Full spectrum and holospectrum are homogenous information fusion technology developed for the fault diagnosis of rotating machinery, which is extensively exploited in the analysis of the orbits of rotor-bearing systems. However, they are…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…