Experimental evaluation of Visual‐Inertial Odometry systems for arable farming
Sign Up to like & getrecommendations! 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
Edge alignment-based visual–inertial fusion for tracking of aggressive motions
Sign Up to like & getrecommendations! Published in 2018 at "Autonomous Robots"
DOI: 10.1007/s10514-017-9642-0
Abstract: We propose a novel edge-based visual–inertial fusion approach to address the problem of tracking aggressive motions with real-time state estimates. At the front-end, our system performs edge alignment, which estimates the relative poses in the… read more here.
Keywords: edge alignment; based visual; inertial fusion; visual inertial ... See more keywords
SLC-VIO: a stereo visual-inertial odometry based on structural lines and points belonging to lines
Sign Up to like & getrecommendations! 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
Micro Aerial Vehicle Navigation with Visual-Inertial Integration Aided by Structured Light
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Navigation"
DOI: 10.1017/s0373463319000511
Abstract: Considering that traditional visual navigation cannot be utilised in low illumination and sparse feature environments, a novel visual-inertial integrated navigation method using a Structured Light Visual (SLV) sensor for Micro Aerial Vehicles (MAVs) is proposed… read more here.
Keywords: micro aerial; model based; navigation; aerial vehicle ... See more keywords
Visual-Inertial Fusion Based Positioning Systems
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3032013
Abstract: In this paper, we developed a visible light positioning (VLP) system using a camera and low-cost inertial measurement units (IMUs). Applying computer vision and sensor fusion techniques, our VLP system is able to estimate the… read more here.
Keywords: system; fusion; sensor fusion; vlp system ... See more keywords
A Real-Time CPU-GPU Embedded Implementation of a Tightly-Coupled Visual-Inertial Navigation System
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3199384
Abstract: In autonomous navigation technologies, the Multi-State Constraint Kalman Filter (MSCKF) is one of the most accurate and robust tightly-coupled fusion frameworks for Visual-Inertial Navigation (VIN). However, the adoption of the MSCKF VIN system in real-time… read more here.
Keywords: time; visual inertial; real time; pipeline ... See more keywords
Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry
Sign Up to like & getrecommendations! 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
Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework
Sign Up to like & getrecommendations! Published in 2022 at "IEEE/CAA Journal of Automatica Sinica"
DOI: 10.1109/jas.2021.1004290
Abstract: Reliable and accurate calibration for camera, inertial measurement unit (IMU) and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment perception. However, traditional calibrations suffer inaccuracy and inconsistency. To address… read more here.
Keywords: monocular visual; robotic arm; visual inertial; calibration ... See more keywords
SE(2)-Constrained Visual Inertial Fusion for Ground Vehicles
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2018.2873055
Abstract: Visual inertial fusion is the problem to estimate vehicle states using visual and inertial measurements, and has recently been an active research topic. Existing visual inertial fusion approaches formulate their estimation algorithms for mobile robots… read more here.
Keywords: constrained visual; ground vehicles; inertial fusion; visual inertial ... See more keywords
Observability-Aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2019.2893809
Abstract: External effects such as shocks and temperature variations affect the calibration of visual–inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might yield poor performance since… read more here.
Keywords: calibration; observability; self calibration; calibration visual ... See more keywords
Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2016.2521413
Abstract: State of the art approaches for visual-inertial sensor fusion use filter-based or optimization-based algorithms. Due to the nonlinearity of the system, a poor initialization can have a dramatic impact on the performance of these estimation… read more here.
Keywords: gyroscope bias; state; initialization; performance ... See more keywords