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   Articles with "inertial odometry" as a keyword



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Experimental evaluation of Visual‐Inertial Odometry systems for arable farming

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recommendations! 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.… read more here.

Keywords: evaluation; robotics; visual inertial; inertial odometry ... See more keywords
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SLC-VIO: a stereo visual-inertial odometry based on structural lines and points belonging to lines

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recommendations! 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… read more here.

Keywords: based structural; structural lines; visual inertial; stereo visual ... See more keywords
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Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry

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recommendations! 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… read more here.

Keywords: planner; visual inertial; inertial odometry; perception aware ... See more keywords
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TLIO: Tight Learned Inertial Odometry

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recommendations! 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… read more here.

Keywords: tight learned; inertial odometry; learned inertial; state ... See more keywords

Range-Visual-Inertial Odometry: Scale Observability Without Excitation

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recommendations! 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… read more here.

Keywords: robotics; inertial odometry; excitation; range ... See more keywords
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DM-VIO: Delayed Marginalization Visual-Inertial Odometry

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recommendations! 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… read more here.

Keywords: vio; marginalization; inertial odometry; delayed marginalization ... See more keywords
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Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels

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recommendations! 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… read more here.

Keywords: lidar inertial; incremental voxels; faster lio; inertial odometry ... See more keywords
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Visual-Inertial Odometry Based on Kinematic Constraints in IMU Frames

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recommendations! 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… read more here.

Keywords: kinematic constraints; based kinematic; visual inertial; inertial odometry ... See more keywords

Continuous-Time Stereo-Inertial Odometry

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recommendations! 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… read more here.

Keywords: time; continuous time; time stereo; stereo inertial ... See more keywords
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RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments

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recommendations! 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.… read more here.

Keywords: rgb inertial; inertial odometry; dynamic environments; resource restricted ... See more keywords
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Square-Root Robocentric Visual-Inertial Odometry With Online Spatiotemporal Calibration

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recommendations! 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… read more here.

Keywords: visual inertial; square root; root robocentric; inertial odometry ... See more keywords