相关论文: Toward Consistent Drift-free Visual Inertial Local…

This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local…

This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…

Simultaneous Localization and Mapping (SLAM) algorithms perform visual-inertial estimation via filtering or batch optimization methods. Empirical evidence suggests that filtering algorithms are computationally faster, while optimization…

Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…

This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…

Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…

This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…

This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…

While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…

We consider the problem of estimating an RF-device's location based on observations, such as received signal strength, from a set of transmitters with known locations. We survey the literature on this problem, showing that previous authors…

Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO algorithms are still widely demanded for their efficient…

Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…

Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-of-the-art (SOTA) LiDAR-Inertial Odometry (LIO) systems still…

Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…

A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…

Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF),…