Related papers: HDVIO: Improving Localization and Disturbance Esti…

Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…

In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are…

The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…

The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…

Visual-Inertial Odometry (VIO) supports immersive Virtual Reality (VR) by fusing camera and Inertial Measurement Unit (IMU) data for real-time pose. However, current trend of offloading VIO to edge servers can lead server-side threat…

Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision,…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these approaches also combine other sensors (inertial sensing, for…

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…

In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…

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…

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…

Inertial Odometry (IO) has gained attention in quadrotor applications due to its sole reliance on inertial measurement units (IMUs), attributed to its lightweight design, low cost, and robust performance across diverse environments.…

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…

Recently, gravity has been highlighted as a crucial constraint for state estimation to alleviate potential vertical drift. Existing online gravity estimation methods rely on pose estimation combined with IMU measurements, which is…