Related papers: Structure-Invariant Range-Visual-Inertial Odometry
The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on…
Extended Reality (XR) systems deployed in industrial and operational settings rely on Visual--Inertial Odometry (VIO) for continuous six-degree-of-freedom pose tracking, yet these environments often involve sensing conditions that deviate…
Fast pose estimation (PE) is of vital importance for successful mission performance of agile autonomous robots. Global Positioning Systems such as GPS and GNSS have been typically used in fusion with Inertial Navigation Systems (INS) for…
Metric Cross-View Geo-Localization (MCVGL) aims to estimate the 3-DoF camera pose (position and heading) by matching ground and satellite images. In this work, instead of pinhole and satellite images, we study robust MCVGL using holistic…
Visual Inertial Odometry (VIO) is the task of estimating the movement trajectory of an agent from an onboard camera stream fused with additional Inertial Measurement Unit (IMU) measurements. A crucial subtask within VIO is the tracking of…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…
The High Inclination Solar Mission (HISM) is a concept for an out-of-the-ecliptic mission for observing the Sun and the heliosphere. The mission profile is largely based on the Solar Polar Imager concept: initially spiraling in to a 0.48 AU…
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…
There has been extensive research on visual localization and odometry for autonomous robots and virtual reality during the past decades. Traditionally, this problem has been solved with the help of expensive sensors, such as lidars.…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
LiDAR-Inertial Odometry (LIO) is a foundational technique for autonomous systems, yet its deployment on resource-constrained platforms remains challenging due to computational and memory limitations. We propose Super-LIO, a robust LIO…
The visuomotor system of any animal is critical for its survival, and the development of a complex one within humans is large factor in our success as a species on Earth. This system is an essential part of our ability to adapt to our…
This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…
Space astronomy in the last 40 years has largely been done from spacecraft in low Earth orbit (LEO) for which the technology is proven and delivery mechanisms are readily available. However, new opportunities are arising with the surge in…