相关论文: IDOL: A Framework for IMU-DVS Odometry using Lines
Vision-based odometry has been widely adopted in autonomous driving owing to its low cost and lightweight setup; however, its performance often degrades in complex outdoor urban environments. To address these challenges, we propose…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Current simultaneous localization and mapping (SLAM) algorithms perform well in static environments but easily fail in dynamic environments. Recent works introduce deep learning-based semantic information to SLAM systems to reduce the…
Extensive research efforts have been dedicated to deep learning based odometry. Nonetheless, few efforts are made on the unsupervised deep lidar odometry. In this paper, we design a novel framework for unsupervised lidar odometry with the…
Event cameras asynchronously output low-latency event streams, promising for state estimation in high-speed motion and challenging lighting conditions. As opposed to frame-based cameras, the motion-dependent nature of event cameras presents…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…
Scan undistortion is a key module for LiDAR odometry in high dynamic environment with high rotation and translation speed. The existing line of studies mostly focuses on one pass undistortion, which means undistortion for each point is…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
We propose DistSurf-OF, a novel optical flow method for neuromorphic cameras. Neuromorphic cameras (or event detection cameras) are an emerging sensor modality that makes use of dynamic vision sensors (DVS) to report asynchronously the…
We propose a dense indirect visual odometry method taking as input externally estimated optical flow fields instead of hand-crafted feature correspondences. We define our problem as a probabilistic model and develop a generalized-EM…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
In this paper we introduce MLINE-VINS, a novel monocular visual-inertial odometry (VIO) system that leverages line features and Manhattan Word assumption. Specifically, for line matching process, we propose a novel geometric line optical…
We introduce EDS, a direct monocular visual odometry using events and frames. Our algorithm leverages the event generation model to track the camera motion in the blind time between frames. The method formulates a direct probabilistic…
Event cameras or dynamic vision sensors (DVS) record asynchronous response to brightness changes instead of conventional intensity frames, and feature ultra-high sensitivity at low bandwidth. The new mechanism demonstrates great advantages…
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…
Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…
Advances in micro-electro-mechanical (MEMS) techniques enable inertial measurements units (IMUs) to be small, cheap, energy efficient, and widely used in smartphones, robots, and drones. Exploiting inertial data for accurate and reliable…
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and real-world efficacy. DLIOM contains several key algorithmic…
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…
Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…