Related papers: Visual-inertial state estimation based on Chebyshe…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…
Anderson acceleration (or Anderson mixing) is an efficient acceleration method for fixed point iterations $x_{t+1}=G(x_t)$, e.g., gradient descent can be viewed as iteratively applying the operation $G(x) \triangleq x-\alpha\nabla f(x)$. It…
We study inertial versions of primal-dual proximal splitting, also known as the Chambolle--Pock method. Our starting point is the preconditioned proximal point formulation of this method. By adding correctors corresponding to the…
Although existing semi-supervised image segmentation methods have achieved good performance, they cannot effectively utilize multiple sources of voxel-level uncertainty for targeted learning. Therefore, we propose two main improvements.…
In this article we present a visual gyroscope based on equirectangular panoramas. We propose a new pipeline where we take advantage of combining three different methods to obtain a robust and accurate estimation of the attitude of the…
In this paper, we introduce a novel formulation for camera motion estimation that integrates RGB-D images and inertial data through scene flow. Our goal is to accurately estimate the camera motion in a rigid 3D environment, along with the…
We propose a new method for human pose estimation which leverages information from multiple views to impose a strong prior on articulated pose. The novelty of the method concerns the types of coherence modelled. Consistency is maximised…
We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…
An important tool for experimental fluids mechanics research is Particle Image Velocimetry (PIV). Several robust methodologies have been proposed to perform the estimation of velocity field from the images, however, alternative methods are…
This paper deals with the problem of estimating the state of a linear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is…
To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…