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Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…
Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…
With inputs from RGB-D camera, industrial camera and wheel odometer, in this letter, we propose a geometry-based detecting method, by which the 3-D modulated LED map can be acquired with the aid of visual odometry algorithm from ORB-SLAM2…
Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry system embedded in unmanned aerial vehicles (UAVs). However,…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. However, they require a photometric camera calibration in order to achieve competitive results. Hence, the respective algorithm cannot be…
Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…
Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…
Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…
Our work aims to estimate the camera motion mounted on the head of a mobile robot or a moving object from RGB-D images in a static scene. The problem of motion estimation is transformed into a nonlinear least squares function. Methods for…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
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…