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Recently, gravity has been highlighted as a crucial constraint for state estimation to alleviate potential vertical drift. Existing online gravity estimation methods rely on pose estimation combined with IMU measurements, which is…
Accurate localization in autonomous driving is critical for successful missions including environmental mapping and survivor searches. In visually challenging environments, including low-light conditions, overexposure, illumination changes,…
This paper presents an end-to-end multi-modal learning approach for monocular Visual-Inertial Odometry (VIO), which is specifically designed to exploit sensor complementarity in the light of sensor degradation scenarios. The proposed…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based localization techniques perform well in environments where…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…
Visual-inertial odometry (VIO) has demonstrated remarkable success due to its low-cost and complementary sensors. However, existing VIO methods lack the generalization ability to adjust to different environments and sensor attributes. In…
In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…
Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like…
Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration Rovers. This paper, firstly,…
The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…
PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…
Visual odometry shows excellent performance in a wide range of environments. However, in visually-denied scenarios (e.g. heavy smoke or darkness), pose estimates degrade or even fail. Thermal cameras are commonly used for perception and…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Rolling bearings are the most crucial components of rotating machinery. Identifying defective bearings in a timely manner may prevent the malfunction of an entire machinery system. The mechanical condition monitoring field has entered the…
Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…
Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…