Related papers: An Efficient Closed-Form Solution to Full Visual-I…
This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are…
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…
Neuromorphic event-based cameras are bio-inspired visual sensors with asynchronous pixels and extremely high temporal resolution. Such favorable properties make them an excellent choice for solving state estimation tasks under aggressive…
As the current initialization method in the state-of-the-art Stereo Visual-Inertial SLAM framework, ORB-SLAM3 has limitations. Its success depends on the performance of the pure stereo SLAM system and is based on the underlying assumption…
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…
In this paper, we present a tightly coupled optimization-based GPS-Visual-Inertial odometry system to solve the trajectory drift of the visual-inertial odometry especially over long-term runs. Visual reprojection residuals, IMU residuals,…
In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is…
Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems. Thus long-term operation of these systems cannot fully rely on factory calibration.…
Implicit Neural Representations (INRs) are a versatile and powerful tool for encoding various forms of data, including images, videos, sound, and 3D shapes. A critical factor in the success of INRs is the initialization of the network,…
Existing artificial compression based reinitialization scheme for conservative level set method has a few drawbacks, like distortion of fluid-fluid interface, unphysical patch formation away from the interface and lack of mass conservation.…
Visual-inertial SLAM is crucial in various fields, such as aerial vehicles, industrial robots, and autonomous driving. The fusion of camera and inertial measurement unit (IMU) makes up for the shortcomings of a signal sensor, which…
We introduce a closed-form method for identification of discrete-time linear time-variant systems from data, formulating the learning problem as a regularized least squares problem where the regularizer favors smooth solutions within a…
We consider a continuous-time optimization method based on a dynamical system, where a massive particle starting at rest moves in the conservative force field generated by the objective function, without any kind of friction. We formulate a…
Initializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly non-linear. This may lead to poor initial estimates that may converge…
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…
In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry…
Visual-inertial odometry (VIO) is the pose estimation backbone for most AR/VR and autonomous robotic systems today, in both academia and industry. However, these systems are highly sensitive to the initialization of key parameters such as…
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transformation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information…