相关论文: A geometry method for LED mapping

This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR…

In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods of depth map generation: conventional computer vision…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

The emergence of modern RGB-D sensors had a significant impact in many application fields, including robotics, augmented reality (AR) and 3D scanning. They are low-cost, low-power and low-size alternatives to traditional range sensors such…

Traditional visible light positioning (VLP) systems estimate receivers' coordinates based on the known light-emitting diode (LED) coordinates. However, the LED coordinates are not always known accurately. Because of the structural changes…

Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…

This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry…

In this paper, we propose light-emitting diode (LED) selection that can be applied not only to the conventional Multiple-Input Multiple-Output (MIMO) case, but also to a larger MIMO configuration of generalized LED index modulation (GLIM)…

We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…

Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…

We consider 3-dimensional (3D) visible light positioning (VLP) based on smartphone camera in an indoor scenario. Based on the positioning model in the quantized pixel-domain, we characterize the 3D normalized positioning error metric (NPEM)…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

State-of-the-art optical wireless positioning (OWP) commonly reaches centimeter-level accuracy by depending on dense multi-light-emitting diodes (LED) infrastructures, photodiode (PD) arrays, or image-sensor receivers, incurring hardware…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

Visible light communication (VLC) based localization is a potential candidate for wide range indoor localization applications. In this paper, we propose a VLC architecture based on orthogonal frequency division multiplexing (OFDM) with…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…