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Published in 2022 at "Journal of Field Robotics"
DOI: 10.1002/rob.22099
Abstract: The farming industry constantly seeks the automation of different processes involved in agricultural production, such as sowing, harvesting and weed control. The use of mobile autonomous robots to perform those tasks is of great interest.…
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Keywords:
evaluation;
robotics;
visual inertial;
inertial odometry ... See more keywords
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Published in 2022 at "Robotica"
DOI: 10.1017/s0263574721001958
Abstract: Abstract To improve mobile robot positioning accuracy in building environments and construct structural three-dimensional (3D) maps, this paper proposes a stereo visual-inertial odometry (VIO) system based on structural lines and points belonging to lines. The…
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Keywords:
based structural;
structural lines;
visual inertial;
stereo visual ... See more keywords
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1
Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3200342
Abstract: Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a…
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Keywords:
planner;
visual inertial;
inertial odometry;
perception aware ... See more keywords
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1
Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3007421
Abstract: In this letter we propose a tightly-coupled Extended Kalman Filter framework for IMU-only state estimation. Strap-down IMU measurements provide relative state estimates based on IMU kinematic motion model. However the integration of measurements is sensitive…
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Keywords:
tight learned;
inertial odometry;
learned inertial;
state ... See more keywords
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Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3058918
Abstract: Traveling at constant velocity is the most efficient trajectory for most robotics applications. Unfortunately without accelerometer excitation, monocular Visual-Inertial Odometry (VIO) cannot observe scale and suffers severe error drift. This was the main motivation for…
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Keywords:
robotics;
inertial odometry;
excitation;
range ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3140129
Abstract: We present DM-VIO, a monocular visual-inertial odometry system based on two novel techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO performs photometric bundle adjustment with a dynamic weight for visual residuals. We adopt…
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Keywords:
vio;
marginalization;
inertial odometry;
delayed marginalization ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3152830
Abstract: This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide the spatial point cloud…
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Keywords:
lidar inertial;
incremental voxels;
faster lio;
inertial odometry ... See more keywords
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Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3173040
Abstract: We propose a visual-inertial odometry (VIO) framework that fuses inertial measurement unit (IMU) data in the body frame based on kinematic relations. The IMU measurements are directly used as the parameters of kinematic constraints rather…
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Keywords:
kinematic constraints;
based kinematic;
visual inertial;
inertial odometry ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3173705
Abstract: The emerging paradigm of Continuous-Time Simultaneous Localization And Mapping (CTSLAM) has become a competitive alternative to conventional discrete-time approaches in recent times and holds the additional promise of fusing multi-modal sensor setups in a truly…
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Keywords:
time;
continuous time;
time stereo;
stereo inertial ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191193
Abstract: Current simultaneous localization and mapping (SLAM) algorithms perform well in static environments but easily fail in dynamic environments. Recent works introduce deep learning-based semantic information to SLAM systems to reduce the influence of dynamic objects.…
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Keywords:
rgb inertial;
inertial odometry;
dynamic environments;
resource restricted ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191209
Abstract: Robocentric visual-inertial odometry (R-VIO) in our recent work [1] models the probabilistic state estimation problem with respect to a moving local (body) frame, which is contrary to a fixed global (world) frame as in the…
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Keywords:
visual inertial;
square root;
root robocentric;
inertial odometry ... See more keywords