Related papers: Neural Inertial Odometry from Lie Events

Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…

Existing inertial motion capture techniques use the human root coordinate frame to estimate local poses and treat it as an inertial frame by default. We argue that when the root has linear acceleration or rotation, the root frame should be…

Moving object segmentation is critical to interpret scene dynamics for robotic navigation systems in challenging environments. Neuromorphic vision sensors are tailored for motion perception due to their asynchronous nature, high temporal…

Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…

We present unsupervised parameter learning in a Gaussian variational inference setting that combines classic trajectory estimation for mobile robots with deep learning for rich sensor data, all under a single learning objective. The…

Neural Ordinary Differential Equations (NODEs), a framework of continuous-depth neural networks, have been widely applied, showing exceptional efficacy in coping with some representative datasets. Recently, an augmented framework has been…

Noise transition matrix (NTM) estimation is a promising approach for learning with label noise. It can infer clean posterior probabilities, known as Label Distribution (LD), based on noisy ones and reduce the impact of noisy labels.…

Over the last few decades, numerous LiDAR-inertial odometry (LIO) algorithms have been developed, demonstrating satisfactory performance across diverse environments. Most of these algorithms have predominantly been validated in open outdoor…

Deep learning-based optical flow (DLOF) extracts features in adjacent video frames with deep convolutional neural networks. It uses those features to estimate the inter-frame motions of objects at the pixel level. In this article, we…

Gorman and Bedrick (2019) argued for using random splits rather than standard splits in NLP experiments. We argue that random splits, like standard splits, lead to overly optimistic performance estimates. We can also split data in biased or…

Neutron reflectometry (NR) is a powerful technique to probe surfaces and interfaces. NR is inherently an indirect measurement technique, access to the physical quantities of interest (layer thickness, scattering length density, roughness),…

Delays frequently occur in real-world environments, yet standard reinforcement learning (RL) algorithms often assume instantaneous perception of the environment. We study random sensor delays in POMDPs, where observations may arrive…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

We demonstrate the suitability of high dynamic range, high-speed, neuromorphic event-based, dynamic vision sensors for metallic additive manufacturing and welding for in-process monitoring applications. In-process monitoring to enable…

The existing Neural ODE formulation relies on an explicit knowledge of the termination time. We extend Neural ODEs to implicitly defined termination criteria modeled by neural event functions, which can be chained together and…

Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…

The memory physics induced unknown offset of the channel is a critical and difficult issue to be tackled for many non-volatile memories (NVMs). In this paper, we first propose novel neural network (NN) detectors by using the multilayer…

Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and…

We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial measurement unit (IMU). Adverse weather conditions do not have a significant…

To predict a set of diverse and informative proposals with enriched representations, this paper introduces a differentiable Determinantal Point Process (DPP) layer that is able to augment the object detection architectures. Most modern…