相关论文: 2.5D Vehicle Odometry Estimation

Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…

Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn…

We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…

This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of multimodal measurements, including wheel odometry, visual…

LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

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…

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…

Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…

Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…

Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…

Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…

Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…

Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry system embedded in unmanned aerial vehicles (UAVs). However,…

2D Key-point estimation is an important precursor to 3D pose estimation problems for human body and hands. In this work, we discuss the data, architecture, and training procedure necessary to deploy extremely efficient 2.5D hand pose…