相关论文: DeRO: Dead Reckoning Based on Radar Odometry With …

This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…

Traditional land vehicle gravity measurement heavily rely on high-precision satellite navigation positioning information. However, the operational range of satellite navigation is limited, and it cannot maintain the required level of…

To overcome the limitation of existing indoor odometry technologies which often cannot simultaneously meet requirements for accuracy cost-effectiveness, and robustness-this paper proposes a novel magnetometer array-aided inertial odometry…

Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…

An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…

Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…

We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…

This paper presents DeepKalPose, a novel approach for enhancing temporal consistency in monocular vehicle pose estimation applied on video through a deep-learning-based Kalman Filter. By integrating a Bi-directional Kalman filter strategy…

In this paper, a distributed dual-quaternion multiplicative extended Kalman filter for the estimation of poses and velocities of individual satellites in a fleet of spacecraft is analyzed. The proposed algorithm uses both absolute and…

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…

Lidar-only odometry aims to estimate the trajectory of a mobile platform from a stream of lidar scans. Traditional scan-to map approaches register each scan against a single, evolving map, which propagates registration errors over time. To…

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…

In this paper, we propose a robust edge-direct visual odometry (VO) based on CNN edge detection and Shi-Tomasi corner optimization. Four layers of pyramids were extracted from the image in the proposed method to reduce the motion error…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…

Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO algorithms are still widely demanded for their efficient…

Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…

This paper overviews different pose representations and metric functions in visual odometry (VO) networks. The performance of VO networks heavily relies on how their architecture encodes the information. The choice of pose representation…