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This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
Electrical impedance tomography (EIT) is a noninvasive imaging method whereby electrical measurements on the boundary of a conductive medium (the data) are taken according to a prescribed protocol set and inverted to map the internal…
In recent years, the demand for mapping construction sites or buildings using light detection and ranging~(LiDAR) sensors has been increased to model environments for efficient site management. However, it is observed that sometimes…
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…
In Electrical Impedance Tomography (EIT), the internal conductivity of a body is recovered via current and voltage measurements taken at its surface. The reconstruction task is a highly ill-posed nonlinear inverse problem, which is very…
Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…
Inertial odometry (IO) directly estimates the position of a carrier from inertial sensor measurements and serves as a core technology for the widespread deployment of consumer grade localization systems. While existing IO methods can…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
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…
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…
Accurate and efficient pedestrian detection is crucial for the intelligent transportation system regarding pedestrian safety and mobility, e.g., Advanced Driver Assistance Systems, and smart pedestrian crosswalk systems. Among all…
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EIT-based tactile sensors face significant challenges during…
We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade…
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…
Electrical impedance tomography (EIT) has been successfully applied to several important application domains such as medicine, geophysics and industrial imaging. EIT offers a high temporal resolution, which allows to track the location of a…
This paper addresses the challenge of Lidar-Inertial Odometry (LIO) in dynamic environments, where conventional methods often fail due to their static-world assumptions. Traditional LIO algorithms perform poorly when dynamic objects…
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…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…
This study shows an enhancement of IoT that gets sensor data and performs real-time face recognition to screen physical areas to find strange situations and send an alarm mail to the client to make remedial moves to avoid any potential…