Related papers: EDI: ESKF-based Disjoint Initialization for Visual…
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…
This paper proposes an $SE_2(3)$ based extended Kalman filtering (EKF) framework for the inertial-integrated state estimation problem. The error representation using the straight difference of two vectors in the inertial navigation system…
Unsupervised monocular depth and ego-motion estimation has drawn extensive research attention in recent years. Although current methods have reached a high up-to-scale accuracy, they usually fail to learn the true scale metric due to the…
In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…
Self-supervised monocular scene flow estimation, aiming to understand both 3D structures and 3D motions from two temporally consecutive monocular images, has received increasing attention for its simple and economical sensor setup. However,…
Visual odometry and SLAM methods have a large variety of applications in domains such as augmented reality or robotics. Complementing vision sensors with inertial measurements tremendously improves tracking accuracy and robustness, and thus…
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…
The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…
This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…
Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…
Video frame interpolation, the process of synthesizing intermediate frames between sequential video frames, has made remarkable progress with the use of event cameras. These sensors, with microsecond-level temporal resolution, fill…
This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
This paper presents a novel dense optical-flow algorithm to solve the monocular simultaneous localization and mapping (SLAM) problem for ground or aerial robots. Dense optical flow can effectively provide the ego-motion of the vehicle while…
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…
In this paper, we propose a novel indirect monocular SLAM algorithm called "VITAMIN-E," which is highly accurate and robust as a result of tracking extremely dense feature points. Typical indirect methods have difficulty in reconstructing…
In this paper we deal with the initialization problem of a visual-inertial odometry system with rolling shutter cameras. Initialization is a prerequisite for using inertial signals and fusing them with visual data. We propose a novel…
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in…