相关论文: SP-VIO: Robust and Efficient Filter-Based Visual I…

Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…

Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO…

Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based exploration on future Mars helicopter missions. However,…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degrees-of-freedom (DOF) state estimation. However, the lack of direct distance…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

As a crucial infrastructure of intelligent mobile robots, LiDAR-Inertial odometry (LIO) provides the basic capability of state estimation by tracking LiDAR scans. The high-accuracy tracking generally involves the kNN search, which is used…

Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…

In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…

The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based localization techniques perform well in environments where…

Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in degraded LiDAR-Inertial Odometry (LIO)…

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,…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in…

This paper presents a visual-inertial odometry (VIO) method using long-tracked features. Long-tracked features can constrain more visual frames, reducing localization drift. However, they may also lead to accumulated matching errors and…

The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…

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…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…