Related papers: Picking Up Speed: Continuous-Time Lidar-Only Odome…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…
This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localization in long-term complex outdoor navigation scenarios. As an…
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
LiDAR odometry is the task of estimating the ego-motion of the sensor from sequential laser scans. This problem has been addressed by the community for more than two decades, and many effective solutions are available nowadays. Most of…
In the continuous-wave Detection and Ranging technology, simultaneous and accurate range and velocity measurements of an unknown target are typically achieved using a frequency-modulated continuous wave (FMCW) with a heterodyne receiver.…
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
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,…
This work is completed on a whim after discussions with my junior colleague. The motion direction angle affects the micro-Doppler spectrum width, thus determining the human motion direction can provide important prior information for…
Using a laser-based ranging method for precise environmental 3D sensing, LiDAR has numerous applications in science and industry. However, conventional LiDAR face challenges in simultaneously achieving high ranging precision and fast…
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with…
We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…
In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…
Prism-based LiDARs are more compact and cheaper than the conventional mechanical multi-line spinning LiDARs, which have become increasingly popular in robotics, recently. However, there are several challenges for these new LiDAR sensors,…
Millimeter-wave (mmW) radars are being increasingly integrated in commercial vehicles to support new Adaptive Driver Assisted Systems (ADAS) for its ability to provide high accuracy location, velocity, and angle estimates of objects,…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
There is a current increase in the development of "4D" Doppler-capable radar and lidar range sensors that produce 3D point clouds where all points also have information about the radial velocity relative to the sensor. 4D radars in…
Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been…
In this paper, we investigate the application of continuous sparse signal reconstruction algorithms for the estimation of the ranges and speeds of multiple moving targets using an FMCW radar. Conventionally, to be reconstructed, continuous…