相关论文: Experimental Comparison of Open Source Visual-Iner…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…
Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation…
In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing stunning results even under the challenging conditions of the…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization is unavailable or in the event of a sensor outage. The…
Due to the scarcity of labeled sensor data in HAR, prior research has turned to video data to synthesize Inertial Measurement Units (IMU) data, capitalizing on its rich activity annotations. However, generating IMU data from videos presents…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
Computational modeling of visual saliency has become an important research problem in recent years, with applications in video quality estimation, video compression, object tracking, retargeting, summarization, and so on. While most visual…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
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…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
In-situ processing has widely been recognized as an effective approach for the visualization and analysis of large-scale simulation outputs from modern HPC systems. One of the most common approaches for batch-based in-situ visualization is…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…