相关论文: Stereo Event-based Visual-Inertial Odometry
We present a method that leverages the complementarity of event cameras and standard cameras to track visual features with low-latency. Event cameras are novel sensors that output pixel-level brightness changes, called "events". They offer…
Event cameras are a novel type of biologically inspired vision sensor known for their high temporal resolution, high dynamic range, and low power consumption. Because of these properties, they are well-suited for processing fast motions…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…
Due to the advantages of high computational efficiency and small memory requirements, filter-based visual inertial odometry (VIO) has a good application prospect in miniaturized and payload-constrained embedded systems. However, the…
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…
Event cameras are ideally suited to capture HDR visual information without blur but perform poorly on static or slowly changing scenes. Conversely, conventional image sensors measure absolute intensity of slowly changing scenes effectively…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide…
This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…
This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selector into error-state iterated Kalman filter (ESIKF) with…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…
Event cameras provide asynchronous, data-driven measurements of local temporal contrast over a large dynamic range with extremely high temporal resolution. Conventional cameras capture low-frequency reference intensity information. These…
Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a…
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
Event cameras are bio-inspired, motion-activated sensors that demonstrate substantial potential in handling challenging situations, such as motion blur and high-dynamic range. In this paper, we proposed EVI-SAM to tackle the problem of 6…
Event cameras are dynamic vision sensors inspired by the biological retina, characterized by their high dynamic range, high temporal resolution, and low power consumption. These features make them capable of perceiving 3D environments even…
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper proposes a monocular event-inertial odometry incorporating an…
State estimation in complex illumination environments based on conventional visual-inertial odometry is a challenging task due to the severe visual degradation of the visual camera. The thermal infrared camera is capable of all-day time and…