相关论文: Stereo Event-based Visual-Inertial Odometry

Contrary to conventional frame-based imaging, event-based vision (EBV) or dynamic vision sensing (DVS) asynchronously records binary signals of intensity changes for given pixels with microsecond resolution. The present work explores the…

Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

In multi-robot systems, traditional radio frequency (RF) communication struggles with contention and jamming. Optical communication offers a strong alternative. However, conventional frame-based cameras suffer from limited frame rates,…

Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main assumptions that are difficult to satisfy…

Vision algorithms can be executed directly on the image sensor when implemented on the next-generation sensors known as focal-plane sensor-processor arrays (FPSP)s, where every pixel has a processor. FPSPs greatly improve latency, reducing…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…

This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…

In this work, we propose a novel event based stereo method which addresses the problem of motion blur for a moving event camera. Our method uses the velocity of the camera and a range of disparities to synchronize the positions of the…

With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…

In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…

In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called "events"), with microsecond…

The neuromorphic camera is a brand new vision sensor that has emerged in recent years. In contrast to the conventional frame-based camera, the neuromorphic camera only transmits local pixel-level changes at the time of its occurrence and…

The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…

Event cameras are bio-inspired vision sensors that asynchronously measure per-pixel brightness changes.The high-temporal resolution and asynchronicity of event cameras offer great potential for estimating robot motion states. Recent works…

Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges regarding robust operation in dark,…

Pose tracking of uncooperative spacecraft is an essential technology for space exploration and on-orbit servicing, which remains an open problem. Event cameras possess numerous advantages, such as high dynamic range, high temporal…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

Accurate time synchronization between heterogeneous sensors is crucial for ensuring robust state estimation in multi-sensor fusion systems. Sensor delays often cause discrepancies between the actual time when the event was captured and the…