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   Articles with "inertial odometry" as a keyword



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

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

MF-LIO: integrating multi-feature LiDAR inertial odometry with FPFH loop closure in SLAM

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recommendations! Published in 2024 at "Measurement Science and Technology"

DOI: 10.1088/1361-6501/ad4385

Abstract: Simultaneous localization and mapping (SLAM) is a pivotal technology in autonomous vehicle navigation and a significant research area in robotics. Addressing the inaccuracies in point cloud registration of traditional LiDAR SLAM, which lead to localization… read more here.

Keywords: multi feature; registration; slam; lidar inertial ... See more keywords

A fast and accurate LiDAR-inertial odometry based on ground segmentation

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recommendations! Published in 2025 at "Measurement Science and Technology"

DOI: 10.1088/1361-6501/adf000

Abstract: Ground segmentation-based point cloud processing methods have gained significant attention in simultaneous localization and mapping (SLAM) for LiDAR-inertial odometry applications, particularly in autonomous vehicles. However, existing methods often lack robustness in complex environments, such as… read more here.

Keywords: segmentation; point; ground; ground segmentation ... See more keywords

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

Maximizing Measurement Visual-Inertial Odometry for Low-Light Environment Through Online Image Pre-Processing

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recommendations! Published in 2025 at "IEEE Access"

DOI: 10.1109/access.2025.3555319

Abstract: Recently, the interest in exploring unknown areas such as caves and tunnels has increased, and Visual-Inertial Odometry (VIO) can provide a suitable localization solution thanks to its lightweight and low cost advantages for mobile robots… read more here.

Keywords: image pre; image; pre processing; inertial odometry ... See more keywords

PPLIO: Plane-to-Plane LiDAR-Inertial Odometry With Multi-View Constraint in Real-Time

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recommendations! Published in 2025 at "IEEE Access"

DOI: 10.1109/access.2025.3559081

Abstract: Recent feature-based LiDAR-inertial odometry (LIO) algorithms mainly adopt a point-to-plane model, which requires complex association between numerous feature points and planes. Since these methods only use distance as a parameter to associate feature points, they… read more here.

Keywords: real time; plane; plane plane; feature ... See more keywords

An Inertial Odometry and Enhanced Occupancy Grid Inertial SLAM for Legged Robots

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recommendations! Published in 2025 at "IEEE Internet of Things Journal"

DOI: 10.1109/jiot.2025.3578665

Abstract: Accurate position estimation is crucial for legged robots, the inertial odometry based on inertial measurement units (IMUs) is low-cost and easy to deploy, and inertial simultaneous localization and mapping (SLAM) methods can maintain stable performance… read more here.

Keywords: odometry; grid inertial; enhanced occupancy; occupancy grid ... See more keywords

Efficient and Accurate Downfacing Visual–Inertial Odometry

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recommendations! Published in 2025 at "IEEE Internet of Things Journal"

DOI: 10.1109/jiot.2025.3609011

Abstract: Visual–inertial odometry (VIO) is a widely used computer vision method that determines an agent’s movement through a camera and an IMU sensor. This article presents an efficient and accurate VIO pipeline optimized for applications on… read more here.

Keywords: pipeline; feature; inertial odometry; visual inertial ... See more keywords

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