相关论文: A Spatiotemporal Hand-Eye Calibration for Trajecto…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

Event cameras that asynchronously output low-latency event streams provide great opportunities for state estimation under challenging situations. Despite event-based visual odometry having been extensively studied in recent years, most of…

Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration Rovers. This paper, firstly,…

We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…

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 presents benchmark tests of various visual(-inertial) odometry algorithms on NVIDIA Jetson platforms. The compared algorithms include mono and stereo, covering Visual Odometry (VO) and Visual-Inertial Odometry (VIO): VINS-Mono,…

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…

Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a…

Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…

We introduce ZeroVO, a novel visual odometry (VO) algorithm that achieves zero-shot generalization across diverse cameras and environments, overcoming limitations in existing methods that depend on predefined or static camera calibration…

In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry…

Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…

This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry…

Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…

In recent years, the technology in visual-inertial odometry (VIO) has matured considerably and has been widely used in many applications. However, we still encounter challenges when applying VIO to a micro air vehicle (MAV) equipped with a…

The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…

The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…

Hand-eye calibration algorithms are mature and provide accurate transformation estimations for an effective camera-robot link but rely on a sufficiently wide range of calibration data to avoid errors and degenerate configurations. To solve…

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other…