Three‐dimensionalized feature‐based LiDAR‐visual odometry for online mapping of unpaved road surfaces
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Field Robotics"
DOI: 10.1002/rob.22334
Abstract: Automated maintenance and motion planning for unpaved roads are research areas of great interest in the field robotics. Constructing such systems necessitates the development of surface maps for unpaved roads. However, the lack of distinctive… read more here.
Keywords: odometry; unpaved roads; dimensionalized feature; road ... See more keywords
Selective visual odometry for accurate AUV localization
Sign Up to like & getrecommendations! Published in 2017 at "Autonomous Robots"
DOI: 10.1007/s10514-015-9541-1
Abstract: In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a… read more here.
Keywords: odometry; selective visual; visual odometry; localization ... See more keywords
Iterative parameter identification method of a vehicle odometry model
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.11.674
Abstract: Abstract The paper proposes an off-line iterative estimation algorithm for wheel circumference estimation of autonomous vehicles. The motivation of the paper is that the signals of the GPS are not available in parking garages or… read more here.
Keywords: parameter identification; estimation; iterative parameter; vehicle ... See more keywords
Human localization in robotized warehouses based on stereo odometry and ground-marker fusion
Sign Up to like & getrecommendations! Published in 2022 at "Robotics and Computer-Integrated Manufacturing"
DOI: 10.1016/j.rcim.2021.102241
Abstract: Abstract Modern logistic solutions for large warehouses consist of a fleet of robots that transfer goods, move racks, and perform other physically difficult and repetitive tasks. The shopfloor is usually enclosed with a safety fence… read more here.
Keywords: robotized warehouses; ground; odometry; human localization ... See more keywords
PC-SD-VIO: A constant intensity semi-direct monocular visual-inertial odometry with online photometric calibration
Sign Up to like & getrecommendations! Published in 2021 at "Robotics and Autonomous Systems"
DOI: 10.1016/j.robot.2021.103877
Abstract: Abstract The brightness constancy assumption is the cornerstone of direct or semi-direct visual odometry (VO) and visual simultaneous localization and mapping (SLAM). However, due to the existence of automatic exposure time, nonlinear camera response function,… read more here.
Keywords: online photometric; photometric calibration; odometry; calibration ... See more keywords
RGB-D visual odometry by constructing and matching features at superpixel level
Sign Up to like & getrecommendations! Published in 2024 at "Robotica"
DOI: 10.1017/s0263574724000985
Abstract: Abstract Visual odometry (VO) is a key technology for estimating camera motion from captured images. In this paper, we propose a novel RGB-D visual odometry by constructing and matching features at the superpixel level that… read more here.
Keywords: odometry; matching features; visual odometry; rgb visual ... See more keywords
Laser-inertial tightly coupled SLAM system for indoor degraded environments
Sign Up to like & getrecommendations! Published in 2024 at "Sensor Review"
DOI: 10.1108/sr-07-2024-0615
Abstract: Purpose To address the issues of low localization and mapping accuracy, as well as map ghosting and drift, in indoor degraded environments using light detection and ranging-simultaneous localization and mapping (LiDAR SLAM), a real-time localization… read more here.
Keywords: odometry; graph optimization; system; tightly coupled ... See more keywords
Using Unsupervised Deep Learning Technique for Monocular Visual Odometry
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2896988
Abstract: Deep learning technique-based visual odometry systems have recently shown promising results compared to feature matching-based methods. However, deep learning-based systems still require the ground truth poses for training and the additional knowledge to obtain absolute… read more here.
Keywords: odometry; monocular visual; visual odometry; learning technique ... See more keywords
Fast and Low-Drift Visual Odometry With Improved RANSAC-Based Outlier Removal Scheme for Intelligent Vehicles
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3178955
Abstract: Visual odometry estimates the ego-motion of a vehicle using only the input of a single or multiple cameras mounted on the vehicle. This paper focuses on the research of the stereo visual odometry system of… read more here.
Keywords: estimation; odometry; fast low; algorithm ... See more keywords
A Practical Survey on Visual Odometry for Autonomous Driving in Challenging Scenarios and Conditions
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3188990
Abstract: The expansion of autonomous driving operations requires the research and development of accurate and reliable self-localization approaches. These include visual odometry methods, in which accuracy is potentially superior to GNSS-based techniques while also working in… read more here.
Keywords: odometry; multi modal; practical survey; visual odometry ... See more keywords
Tightly-Coupled LiDAR-IMU-Wheel Odometry With Online Calibration of a Kinematic Model for Skid-Steering Robots
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Access"
DOI: 10.1109/access.2024.3461655
Abstract: Tunnels and long corridors are challenging environments for LiDAR-based odometry estimation algorithms because a LiDAR point cloud should degenerate (i.e., point cloud matching cannot work properly) in such environments. To tackle point cloud degeneration, this… read more here.
Keywords: odometry; wheel odometry; online calibration; model ... See more keywords