相关论文: SchurVINS: Schur Complement-Based Lightweight Visu…

Volume-resolving imaging techniques are rapidly advancing progress in experimental fluid mechanics. However, reconstructing the full and structured Eulerian velocity and pressure fields from sparse and noisy particle tracks obtained…

Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…

Fast pose estimation (PE) is of vital importance for successful mission performance of agile autonomous robots. Global Positioning Systems such as GPS and GNSS have been typically used in fusion with Inertial Navigation Systems (INS) for…

We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their…

Visible and near-infrared(NIR) band sensors provide images that capture complementary spectral radiations from a scene. And the fusion of the visible and NIR image aims at utilizing their spectrum properties to enhance image quality.…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

We study the problem of statistically certifying viable initial sets (VISs) -- sets of initial conditions whose trajectories satisfy a given control specification. While VISs can be obtained from model-based methods, these methods typically…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Precision in identifying and differentiating micro and macro blood vessels in the retina is crucial for the diagnosis of retinal diseases, although it poses a significant challenge. Current autoencoding-based segmentation approaches…

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time.…

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…

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…

In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative…

Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…

Accurate, infrastructure-less sensor systems for motion tracking are essential for mobile robotics and augmented reality (AR) applications. The most popular state-of-the-art visual-inertial odometry (VIO) systems, however, are too…

The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…

In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are…

Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction…

Vision transformers (ViTs) have demonstrated great potential in various visual tasks, but suffer from expensive computational and memory cost problems when deployed on resource-constrained devices. In this paper, we introduce a ternary…

Instance segmentation, a cornerstone task in computer vision, has wide-ranging applications in diverse industries. The advent of deep learning and artificial intelligence has underscored the criticality of training effective models,…