research
∙
08/10/2023
Multi-Visual-Inertial System: Analysis, Calibration and Estimation
In this paper, we study state estimation of multi-visual-inertial system...
share
research
∙
09/09/2022
General Place Recognition Survey: Towards the Real-world Autonomy Age
Place recognition is the fundamental module that can assist Simultaneous...
research
∙
05/04/2022
Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation
We propose a keypoint-based object-level SLAM framework that can provide...
research
∙
01/23/2022
Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy
In this paper, we study in-depth the problem of online self-calibration ...
research
∙
11/15/2021
Observation Contribution Theory for Pose Estimation Accuracy
The improvement of pose estimation accuracy is currently the fundamental...
research
∙
03/23/2021
Distributed Visual-Inertial Cooperative Localization
In this paper we present a consistent and distributed state estimator fo...
research
∙
12/18/2020
CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth
In this work, we present a lightweight, tightly-coupled deep depth netwo...
research
∙
08/17/2020
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
Multi-sensor fusion of multi-modal measurements from commodity inertial,...
research
∙
06/28/2020
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System
As cameras and inertial sensors are becoming ubiquitous in mobile device...
research
∙
06/08/2020
Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory
In recent years, the volume of the commercial mobile robot market has be...
research
∙
11/13/2019
Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints
While visual localization or SLAM has witnessed great progress in past d...
research
∙
10/30/2019
CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure
Traditional attempts for loop closure detection typically use hand-craft...
research
∙
09/09/2019
LIC-Fusion: LiDAR-Inertial-Camera Odometry
This paper presents a tightly-coupled multi-sensor fusion algorithm term...
research
∙
06/06/2019
Visual-Inertial Navigation: A Concise Review
As inertial and visual sensors are becoming ubiquitous, visual-inertial ...
research
∙
03/20/2019
An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM
It holds great implications for practical applications to enable centime...
research
∙
05/23/2018
Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection
This paper addresses the problem of detecting radioactive material in tr...
research
∙
05/20/2018
Lightweight Unsupervised Deep Loop Closure
Robust efficient loop closure detection is essential for large-scale rea...
research
∙
05/12/2018
Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes
In this paper, we perform a thorough observability analysis for lineariz...
research
∙
05/10/2018
Robocentric Visual-Inertial Odometry
In this paper, we propose a novel robocentric formulation of the visual-...
research
∙
05/07/2018
Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation
In this paper we propose a new continuous preintegration theory for grap...
research
∙
11/23/2017