Related papers: Quantifying VIO Uncertainty
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…
Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it.…
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advances in robot perception have led to significant improvements…
High-fidelity rendering of dynamic humans from monocular videos typically degrades catastrophically under occlusions. Existing solutions incorporate external priors-either hallucinating missing content via generative models, which induces…
Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…
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…
In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…
Event cameras show great potential for visual odometry (VO) in handling challenging situations, such as fast motion and high dynamic range. Despite this promise, the sparse and motion-dependent characteristics of event data continue to…
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…
We present a self-supervised approach to ignoring "distractors" in camera images for the purposes of robustly estimating vehicle motion in cluttered urban environments. We leverage offline multi-session mapping approaches to automatically…
Monocular Odometry systems can be broadly categorized as being either Direct, Indirect, or a hybrid of both. While Indirect systems process an alternative image representation to compute geometric residuals, Direct methods process the image…
In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…
Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown that an invariant formulation of the extended Kalman filter…
Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects…
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…
Visual Inertial Odometry (VIO) is the task of estimating the movement trajectory of an agent from an onboard camera stream fused with additional Inertial Measurement Unit (IMU) measurements. A crucial subtask within VIO is the tracking of…
Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…
Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to…
We obtain strong consistency and asymptotic normality of a least squares estimator of the drift coefficient for complex-valued Ornstein-Uhlenbeck processes disturbed by fractional noise, extending the result of Y. Hu and D. Nualart,…