Related papers: Unsupervised Visual Odometry and Action Integratio…
Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…
Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…
Autonomous Mobile Robots operating in indoor industrial environments require a localization system that is reliable and robust. While Visual Odometry (VO) can offer a reasonable estimation of the robot's state, traditional VO methods…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…
We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
With an ever-widening domain of aerial robotic applications, including many mission critical tasks such as disaster response operations, search and rescue missions and infrastructure inspections taking place in GPS-denied environments, the…
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…
In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…
What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…
This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard a UAV (Unmanned Air Vehicle) by supplementing its pose…
Visual inertial odometry (VIO) is a process for fusing visual and kinematic data to understand a machine's state in a navigation task. Olfactory inertial odometry (OIO) is an analog to VIO that fuses signals from gas sensors with inertial…
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…
Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumption. To successfully bootstrap VIO algorithms, the…
Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV…
We present an approach to sensorimotor control in immersive environments. Our approach utilizes a high-dimensional sensory stream and a lower-dimensional measurement stream. The cotemporal structure of these streams provides a rich…