相关论文: PIEKF-VIWO: Visual-Inertial-Wheel Odometry using P…
This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate the odometer-aided static/in-motion inertial navigation attitude alignment for land vehicles.…
It holds great implications for practical applications to enable centimeter-accuracy positioning for mobile and wearable sensor systems. In this paper, we propose a novel, high-precision, efficient visual-inertial (VI)-SLAM algorithm,…
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…
Intraoperative tracking of surgical instruments is an inevitable task of computer-assisted surgery. An optical tracking system often fails to precisely reconstruct the dynamic location and pose of a surgical tool due to the acquisition…
The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; that is, their state lies in a smooth manifold equipped with a transitive Lie group symmetry. This paper proposes…
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 an extension to visual inertial odometry (VIO) by introducing tightly-coupled fusion of magnetometer measurements. A sliding window of keyframes is optimized by minimizing re-projection errors, relative inertial errors,…
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the staple of INS filtering for 50 years. However, recent…
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payload transportation systems that engage in direct physical…
The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…
Variational inference (VI) combined with Bayesian nonlinear filtering produces state-of-the-art results for latent time-series modeling. A body of recent work has focused on sequential Monte Carlo (SMC) and its variants, e.g., forward…
Recent developments of technology have enabled atomic spins as the most sensitive inertial and magnetic sensors. Atomic spin gyroscope (magnetometer) essentially outputs the estimate of the inertial rotation rate (magnetic filed) to be…
This paper presents a novel tightly-coupled monocular visual-inertial Simultaneous Localization and Mapping algorithm, which provides accurate and robust localization within the globally consistent map in real time on a standard CPU. This…
The iterative ensemble Kalman filter (IEnKF) is widely used in inverse problems to estimate system parameters from limited observations. However, the IEnKF, when applied to nonlinear systems, can be plagued by poor convergence. Here we…
Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camera, limiting their ability to fully exploit LiDAR-derived…
This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem in…
This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF). A Deep Learning-based Adaptation Mechanism (DLAM) is…
Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…
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…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…