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
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
VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2918689
Abstract: In recent years, many approaches to visual-inertial odometry (VIO) have become available. However, they neither exploit the robot's dynamics and known actuation inputs, nor differentiate between the desired motion due to actuation and the unwanted… read more here.
Keywords: external force; odometry; force; model ... See more keywords
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3056380
Abstract: We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag smoothing.… read more here.
Keywords: unified multi; multi modal; lidar; odometry ... See more keywords
FasterGICP: Acceptance-Rejection Sampling Based 3D Lidar Odometry
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3124072
Abstract: Distribution-to-distribution-based lidar odometry is known for its good accuracy, while it cannot run in real-time when the number of points is large. To alleviate this problem, Faster Generalized Iterative Closest Point (FasterGICP) is proposed in… read more here.
Keywords: acceptance rejection; rejection sampling; lidar odometry; odometry ... See more keywords
Robust Self-Supervised LiDAR Odometry Via Representative Structure Discovery and 3D Inherent Error Modeling
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3140794
Abstract: The correct ego-motion estimation basically relies on the understanding of correspondences between adjacent LiDAR scans. However, given the complex scenarios and the low-resolution LiDAR, finding reliable structures for identifying correspondences can be challenging. In this… read more here.
Keywords: odometry; lidar odometry; self supervised; ego motion ... See more keywords