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Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
Visual-Inertial Odometry (VIO) utilizes an Inertial Measurement Unit (IMU) to overcome the limitations of Visual Odometry (VO). However, the VIO for vehicles in large-scale outdoor environments still has some difficulties in estimating…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…
Event cameras, when combined with inertial sensors, show significant potential for motion estimation in challenging scenarios, such as high-speed maneuvers and low-light environments. There are many methods for producing such estimations,…
Electrical impedance tomography (EIT) is a non-invasive imaging method in which an unknown physical body is probed with electric currents applied on the boundary, and the internal conductivity distribution is recovered from the measured…
Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from…
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and…
This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…
LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both pose and velocity are regarded as state variables that need…
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,…
Accurate ego-motion estimation is a critical component of any autonomous system. Conventional ego-motion sensors, such as cameras and LiDARs, may be compromised in adverse environmental conditions, such as fog, heavy rain, or dust.…
In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV). However, integrating multiple LiDARs can be challenging,…
Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…
This paper introduces the united monocular-stereo features into a visual-inertial tightly coupled odometry (UMS-VINS) for robust pose estimation. UMS-VINS requires two cameras and a low-cost inertial measurement unit (IMU). The UMS-VINS is…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates camera poses and sparse scene geometry by minimizing photometric and IMU measurement errors in a combined energy functional. The visual part of the…
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…
Neuromorphic event-based cameras are bio-inspired visual sensors with asynchronous pixels and extremely high temporal resolution. Such favorable properties make them an excellent choice for solving state estimation tasks under aggressive…
This paper proposes a novel edge computing enabled real-time video analysis system for intelligent visual devices. The proposed system consists of a tracking-assisted object detection module (TAODM) and a region of interesting module…
Event cameras provide a natural and data efficient representation of visual information, motivating novel computational strategies towards extracting visual information. Inspired by the biological vision system, we propose a behavior driven…