相关论文: Visual-inertial state estimation based on Chebyshe…

Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…

A novel method which is called the Chebyshev inertial iteration for accelerating the convergence speed of fixed-point iterations is presented. The Chebyshev inertial iteration can be regarded as a valiant of the successive over relaxation…

In this paper, a new framework for continuous-time maximum a posteriori estimation based on the Chebyshev polynomial optimization (ChevOpt) is proposed, which transforms the nonlinear continuous-time state estimation into a problem of…

Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…

In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…

We present a novel continuous time trajectory representation based on a Chebyshev polynomial basis, which when governed by known dynamics models, allows for full trajectory and robot dynamics estimation, particularly useful for…

In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

This note presents an online pseudospectral method for system identification using Chebyshev polynomial basis under aperiodic sampling. The system dynamics are approximated piecewise by introducing a sliding time window. The number of…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…

We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which…

The pose adjustment (PA) with a pose-only visual representation has been proven equivalent to the bundle adjustment (BA), while significantly improving the computational efficiency. However, the pose-only solution has not yet been properly…

This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…

Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between…

In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…

In this letter, we present a closed-form initialization method that recovers the full visual-inertial state without nonlinear optimization. Unlike previous approaches that rely on iterative solvers, our formulation yields analytical,…

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)…

We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly take into account IMU measurement uncertainty, which was…