相关论文: Structure-Invariant Range-Visual-Inertial Odometry

The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely on template matching with pre-gathered patch-based features,…

This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…

To empower mobile robots with usable maps as well as highest state estimation accuracy and robustness, we present OKVIS2-X: a state-of-the-art multi-sensor Simultaneous Localization and Mapping (SLAM) system building dense volumetric…

Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…

An accurate odometry is essential for legged-wheel robots operating in unstructured terrains such as bumpy roads and staircases. Existing methods often suffer from pose drift due to their ignorance of terrain geometry. We propose a…

Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven…

In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…

Inertial odometry (IO) directly estimates the position of a carrier from inertial sensor measurements and serves as a core technology for the widespread deployment of consumer grade localization systems. While existing IO methods can…

Space agencies have been incessantly working to propose a sustainable architecture for human Mars mission. But, before proceeding to a giant leap and accomplishing those mission intent, it is significant to know the extent of possibility to…

Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV…

Aerial navigation on Mars requires vision-based pipelines that are robust to the diverse illumination conditions and terrain morphology of the Martian surface. A key bottleneck for training and evaluating such methods is the scarcity of…

Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…

Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…

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…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…

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…

Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…