相关论文: Exploring Event Camera-based Odometry for Planetar…
Visual Inertial Odometry (VIO) is the task of estimating the movement trajectory of an agent from an onboard camera stream fused with additional Inertial Measurement Unit (IMU) measurements. A crucial subtask within VIO is the tracking of…
xVIO is a range-visual-inertial odometry algorithm implemented at JPL. It has been demonstrated with closed-loop controls on-board unmanned rotorcraft equipped with off-the-shelf embedded computers and sensors. It can operate at daytime…
Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to…
Visual-inertial odometry (VIO) is an important technology for autonomous robots with power and payload constraints. In this paper, we propose a novel approach for VIO with stereo cameras which integrates and calibrates the velocity-control…
In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…
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…
Event cameras, inspired by biological vision, are asynchronous sensors that detect changes in brightness, offering notable advantages in environments characterized by high-speed motion, low lighting, or wide dynamic range. These distinctive…
This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan…
Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require…
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the extended Fourier Mellin Transformation…
Monocular visual-inertial odometry (VIO) is a low-cost solution to provide high-accuracy, low-drifting pose estimation. However, it has been meeting challenges in vehicular scenarios due to limited dynamics and lack of stable features. In…
Visual Inertial Odometry (VIO) algorithms estimate the accurate camera trajectory by using camera and Inertial Measurement Unit (IMU) sensors. The applications of VIO span a diverse range, including augmented reality and indoor navigation.…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…
Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects…
Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…
Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…
Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other…
Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…