mVIL-Fusion: Monocular Visual-Inertial-LiDAR Simultaneous Localization and Mapping in Challenging Environments
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3226074
Abstract: We propose mVIL-Fusion, a three-level multisensor fusion system that is able to achieve robust state estimation and globally consistent mapping in perceptually degraded environments. First, LiDAR depth-assisted visual-inertial odometry (VIO) with LiDAR odometry (LO) synchronous… read more here.
Keywords: fusion; mvil fusion; robotics; visual inertial ... See more keywords
Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3271520
Abstract: Autonomous exploration has many important applications. However, classic information gain-based or frontier-based exploration only relies on the robot current state to determine the immediate exploration goal, which lacks the capability of predicting the value of… read more here.
Keywords: policy evaluation; robot; robot exploration; challenging environments ... See more keywords