Related papers: PC-SRIF: Preconditioned Cholesky-based Square Root…
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…
Accuracy and computational efficiency are the most important metrics to Visual Inertial Navigation System (VINS). The existing VINS algorithms with either high accuracy or low computational complexity, are difficult to provide the high…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
Low-feature environments are one of the main Achilles' heels of geometric computer vision (CV) algorithms. In most human-built scenes often with low features, lines can be considered complements to points. In this paper, we present a…
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus…
In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based VINS is not invariant under the stochastic unobservable…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
This paper develops and analyzes a new algorithm for QR decomposition with column pivoting (QRCP) of rectangular matrices with many more rows than columns. The algorithm carefully combines methods from randomized numerical linear algebra to…
Embedded computer vision applications increasingly require the speed and power benefits of single-precision (32 bit) floating point. However, applications which make use of Levenberg-like optimization can lose significant accuracy when…
CholeskyQR is a simple and fast QR decomposition via Cholesky decomposition, while it has been considered highly sensitive to the condition number. In this paper, we provide a randomized preconditioner framework for CholeskyQR algorithm.…
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…
As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of…
Covariance steering (CS) synthesizes a control policy which drives the state's mean and covariance matrix towards desired values. Offering tractable computation of a closed-loop policy which can obey chance constraints in uncertain…
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observability analysis for visual-inertial navigation systems…