相关论文: Multi-LVI-SAM: A Robust LiDAR-Visual-Inertial Odom…

Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…

Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

This paper introduces BIMCaP, a novel method to integrate mobile 3D sparse LiDAR data and camera measurements with pre-existing building information models (BIMs), enhancing fast and accurate indoor mapping with affordable sensors. BIMCaP…

Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of…

Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying refractive fluids, given only the camera calibration in air.…

Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

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…

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…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…