InV2IWO: Invariant Vanishing Point-Aided Visual–Inertial–Wheel Odometry in Structural Environments
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2025.3525469
Abstract: Visual-inertial odometry (VIO) commonly suffers from observability degeneration for ground robots, which can be addressed by introducing wheel odometers. However, wheel-aided VIO may still be susceptible to pose drift. In this article, we propose a… read more here.
Keywords: wheel; wheel odometry; vanishing point; inertial wheel ... See more keywords
Robust Depth-Aided Visual-Inertial-Wheel Odometry for Mobile Robots
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2023.3323731
Abstract: This article introduces visual-depth-inertial-wheel odometry (VDIWO), a robust approach for real-time localization of mobile robots in indoor and outdoor scenarios. Notably, VDIWO achieves accurate localization without relying on prior information. This approach integrates the RGB-D… read more here.
Keywords: mobile robots; wheel odometry; depth; inertial wheel ... See more keywords
LG-VIWO: Visual-Inertial-Wheel Odometry Leveraging the Depth-Aided Local Ground Constraints for Mobile Robots
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2025.3565096
Abstract: Visual-inertial odometry (VIO) has been widely applied in mobile robots due to its low cost and versatility. However, the planar motion of mobile robots leads to the degradation of observability in VIO, while slope variations… read more here.
Keywords: odometry; mobile robots; local ground; inertial wheel ... See more keywords