Related papers: Local Observability of VINS and LINS
By proper co-ordinates of non-inertial observers (shortly - proper non-inertial co-ordinates) we understand the proper co-ordinates of an arbitrarily moving local observer. After a brief review of the theory of proper non-inertial…
Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…
The exploration of the redshift drift, a direct measurement of cosmological expansion, is expected to take several decades of observation with stable, sensitive instruments. We introduced a new method to probe cosmology which bypasses the…
Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
We define combinatorial invariants of Legendrian and transverse links in universally tight lens spaces using grid diagrams, generalizing [OST08] and prove that they are equivalent to the invariants defined in [BVVV13] and [LOSS09]. We use…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…
The pose adjustment (PA) with a pose-only visual representation has been proven equivalent to the bundle adjustment (BA), while significantly improving the computational efficiency. However, the pose-only solution has not yet been properly…
In this position paper, we consider the state of computer vision research with respect to invariance to the horizontal orientation of an image -- what we term reflection invariance. We describe why we consider reflection invariance to be an…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
The number of strong lens systems is expected to increase significantly in ongoing and upcoming surveys. With an increase in the total number of such systems we expect to discover many configurations that correspond to unstable caustics. In…
We present a robust visual-inertial SLAM system that combines the benefits of Convolutional Neural Networks (CNNs) and planar constraints. Our system leverages a CNN to predict the depth map and the corresponding uncertainty map for each…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…
The article reviews different definitions for a convolutional code which can be found in the literature. The algebraic differences between the definitions are worked out in detail. It is shown that bi-infinite support systems are dual to…
Optical sensors are often mounted on moving platforms to aid in a variety of tasks like data collection, surveillance and navigation. This necessitates the precise control of the inertial orientation of the optical sensor line-of-sight…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
In this paper, we develop and open-source, for the first time, a square-root filter (SRF)-based visual-inertial navigation system (VINS), termed sqrtVINS, which is ultra-fast, numerically stable, and capable of dynamic initialization even…