相关论文: Closed-form solution to cooperative visual-inertia…

Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…

It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…

This paper presents a hybrid attitude and gyro-bias observer designed directly on the Special Orthogonal group SO(3). The proposed hybrid observer, relying on a hysteresis-based switching between two configurations, guarantees global…

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…

The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

This paper proposes a discrete-time geometric attitude observer for fusing monocular vision with GPS velocity measurements. The observer takes the relative transformations obtained from processing monocular images with any visual odometry…

Collaborative perception enables agents to share complementary perceptual information with nearby agents. This would improve the perception performance and alleviate the issues of single-view perception, such as occlusion and sparsity. Most…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…

Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…

In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…

In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…

Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…

This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…

In this letter, we present a closed-form initialization method that recovers the full visual-inertial state without nonlinear optimization. Unlike previous approaches that rely on iterative solvers, our formulation yields analytical,…

Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…

This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…