相关论文: Experimental Comparison of Visual-Aided Odometry M…

Level crossing accidents remain a significant safety concern in modern railway systems, particularly under adverse weather conditions that degrade sensor performance. This review surveys state-of-the-art sensor technologies and fusion…

This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…

A common operation performed in Virtual Reality (VR) environments is locomotion. Although real walking can represent a natural and intuitive way to manage displacements in such environments, its use is generally limited by the size of the…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…

Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses…

As the autonomous driving industry is slowly maturing, visual map localization is quickly becoming the standard approach to localize cars as accurately as possible. Owing to the rich data returned by visual sensors such as cameras or…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…

This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…

Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…

Vehicular visible light positioning (VLP) methods find relative locations of vehicles by estimating the positions of intensity-modulated head/tail lights of one vehicle (target) with respect to another (ego). Estimation is done in two…

Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Physically reduced-scale vehicles are emerging to accelerate the development of advanced automated driving functions. In this paper, we investigate the effects of scaling on self-localization accuracy with visual and visual-inertial…

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…