Related papers: ORORA: Outlier-Robust Radar Odometry
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…
Considering a common case where measurements are obtained from independent sensors, we present a novel outlier-robust filter for nonlinear dynamical systems in this work. The proposed method is devised by modifying the measurement model and…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…
Underwater visual-inertial navigation is challenging due to the poor visibility and presence of outliers in underwater environments. The navigation performance is closely related to outlier detection and elimination. Existing methods assume…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
In this article, we consider the problem of outlier-robust state estimation where the measurement noise can be correlated. Outliers in data arise due to many reasons like sensor malfunctioning, environmental behaviors, communication…
The curse of outlier measurements in estimation problems is a well known issue in a variety of fields. Therefore, outlier removal procedures, which enables the identification of spurious measurements within a set, have been developed for…
In recent years, there have been significant improvements in various forms of image outlier detection. However, outlier detection performance under adversarial settings lags far behind that in standard settings. This is due to the lack of…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
Machine learning and data analysis have been used in many robotics fields, especially for modelling. Data are usually the result of sensor measurements and, as such, they might be subjected to noise and outliers. The presence of outliers…
We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial measurement unit (IMU). Adverse weather conditions do not have a significant…
The presence of outliers (anomalous values) in synthetic aperture radar (SAR) data and the misspecification in statistical image models may result in inaccurate inferences. To avoid such issues, the Rayleigh regression model based on a…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
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.…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Radar offers the advantage of providing additional physical properties related to observed objects. In this study, we design a physical-enhanced radar-inertial odometry system that capitalizes on the Doppler velocities and radar…
Radar-Inertial Odometry (RIO) has emerged as a robust alternative to vision- and LiDAR-based odometry in challenging conditions such as low light, fog, featureless environments, or in adverse weather. However, many existing RIO approaches…