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Accurate Monocular Visual-inertial SLAM using a Map-assisted EKF Approach [article]

Meixiang Quan, Songhao Piao, Minglang Tan, Shi-Sheng Huang
<span title="2018-03-31">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This paper presents a novel tightly-coupled monocular visual-inertial Simultaneous Localization and Mapping algorithm, which provides accurate and robust localization within the globally consistent map  ...  This is achieved by firstly performing the visual-inertial extended kalman filter(EKF) to provide motion estimate at a high rate.  ...  The advantage of visual-inertial sensor fusion is the most obvious in a monocular visual-inertial setup, because the scale of the motion estimation and map structure computed from monocular SLAM is ambiguous  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1706.03648v3">arXiv:1706.03648v3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/o5wiizclkvdkbdgjheaengkyy4">fatcat:o5wiizclkvdkbdgjheaengkyy4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200826030237/https://arxiv.org/pdf/1706.03648v3.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6c/e9/6ce98ea0810b68ee76abc87d82f7efec5f3dc248.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1706.03648v3" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Accurate Monocular Visual-inertial SLAM using a Map-assisted EKF Approach

Meixiang Quan, Songhao Piao, Minglang Tan, Shi-Sheng Huang
<span title="">2019</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
This paper presents a novel tightly coupled monocular visual-inertial simultaneous localization and mapping (SLAM) algorithm, which provides accurate and robust motion tracking at high frame rates on a  ...  In a parallel thread, we construct a global map and perform a keyframe-based visual-inertial bundle adjustment to optimize the map.  ...  TIGHTLY-COUPLED MONOCULAR VISLAM In this section, we introduce our tightly-coupled monocular visual-inertial SLAM approach.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2019.2904512">doi:10.1109/access.2019.2904512</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/coe7svjcf5bn5psv3iehfacz34">fatcat:coe7svjcf5bn5psv3iehfacz34</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210428130203/https://ieeexplore.ieee.org/ielx7/6287639/8600701/08665859.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/0b/fa/0bfad3e13baad85d8d66d00fd28be1535783761c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2019.2904512"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Research on the Availability of VINS-Mono and ORB-SLAM3 Algorithms for Aviation

<span title="2020-12-23">2020</span> <i title="World Scientific and Engineering Academy and Society (WSEAS)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/mp6y4s4eenhyrn2owzweq2c74a" style="color: black;">WSEAS Transactions on Computers</a> </i> &nbsp;
The most used sensor among them is GPS. It is a sensor that can be out of use although it has high accuracy rates.  ...  There are two visual-inertial navigation systems VINS-Mono and ORB-SLAM3, which are the best known algorithms in the literature, were examined and compared in terms of performance.  ...  The map is a large stacking sensor vector and a landmark state in EKF-SLAM and is modeled using Gaussian variables.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.37394/23205.2020.19.27">doi:10.37394/23205.2020.19.27</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/iqcu6wzsffdwljsrtuwqvm7ycm">fatcat:iqcu6wzsffdwljsrtuwqvm7ycm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220423184841/https://www.wseas.org/multimedia/journals/computers/2020/a545105-048.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9a/01/9a0154281af6c4ce16a8a0e4575be282bf8090ac.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.37394/23205.2020.19.27"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Guest Editorial Special Issue on Visual SLAM

Jos Neira, Andrew J. Davison, John J. Leonard
<span title="">2008</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dg2bd7saqzaj3e4myjqwziwpa4" style="color: black;">IEEE Transactions on robotics</a> </i> &nbsp;
Visual odometry is used to estimate precise frame-to-frame motion of a binocular stereo rig with optional inertial measurement unit (IMU) assistance if available.  ...  ., a novel representation for point features within monocular SLAM that allows undelayed initialization of features within the standard EKF framework.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tro.2008.2004620">doi:10.1109/tro.2008.2004620</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/u6zxmc3awfbgnkgdghxoitkwni">fatcat:u6zxmc3awfbgnkgdghxoitkwni</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160928213603/http://www.doc.ic.ac.uk:80/~ajd/Publications/neira_etal_tro2008.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f8/02/f80243d8e0ce4eeea983c16c0d3d5c3dced03b9f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tro.2008.2004620"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives

Chang Chen, Hua Zhu, Menggang Li, Shaoze You
<span title="2018-08-15">2018</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/r45lqjggovc6rpxxfw7fhwzs7e" style="color: black;">Robotics</a> </i> &nbsp;
Visual-inertial simultaneous localization and mapping (VI-SLAM) is popular research topic in robotics.  ...  This study provides a comprehensive survey on VI-SLAM. Following a short introduction, this study is the first to review VI-SLAM techniques from filtering-based and optimization-based perspectives.  ...  It is also a visual inertial navigation system based on the multi-state constraint EKF.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/robotics7030045">doi:10.3390/robotics7030045</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/wy54dx2lhfcrrnuwzcgtm6jmbq">fatcat:wy54dx2lhfcrrnuwzcgtm6jmbq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190504142758/https://res.mdpi.com/robotics/robotics-07-00045/article_deploy/robotics-07-00045-v4.pdf?filename=&amp;attachment=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/43/0a/430a7fc90152ff725bbbfec58f7bfe7017ca1da2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/robotics7030045"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Feature-based visual simultaneous localization and mapping: a survey

Rana Azzam, Tarek Taha, Shoudong Huang, Yahya Zweiri
<span title="2020-01-16">2020</span> <i title="Springer Science and Business Media LLC"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wxtpc7l3qzds3ojx4uwv4dvlr4" style="color: black;">SN Applied Sciences</a> </i> &nbsp;
In this paper, a comprehensive survey of the state-of-the-art feature-based visual SLAM approaches is presented.  ...  Visual simultaneous localization and mapping (SLAM) has attracted high attention over the past few years.  ...  ORB features and inertial measurements were used in a visual inertial odometry (VIO) framework based on EKF which is capable of estimating the camera motion with minimal delays.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s42452-020-2001-3">doi:10.1007/s42452-020-2001-3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/g7445is2cbdmdmllewkyp7giby">fatcat:g7445is2cbdmdmllewkyp7giby</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200510044043/https://link.springer.com/content/pdf/10.1007/s42452-020-2001-3.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ae/95/ae95c8bbe177052fcf165b47216c6a775936e918.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s42452-020-2001-3"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> springer.com </button> </a>

Monocular indoor localization techniques for smartphones

Gergely Hollósi, Csaba Lukovszki, István Moldován, Sándor Plósz, Frigyes Harasztos
<span title="2016-12-01">2016</span> <i title="Walter de Gruyter GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/3eqv6evtubbcxlmaovdwd4jg2i" style="color: black;">Acta Universitatis Sapientiae: Informatica</a> </i> &nbsp;
This paper is aimed to give an overview of state-of-the-art results regarding monocular visual localization.  ...  In the last decade huge research work has been put to the indoor visual localization of personal smartphones.  ...  LSD-SLAM Large-Scale Direct Monocular SLAM (LSD-SLAM) uses direct methods combined with a probabilistic approach to track camera movements and build dense map real-time [10] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1515/ausi-2016-0009">doi:10.1515/ausi-2016-0009</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mhvfb5jch5be7ia5gviwnjoxd4">fatcat:mhvfb5jch5be7ia5gviwnjoxd4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180720033028/https://content.sciendo.com/downloadpdf/journals/ausi/8/2/article-p186.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4a/b0/4ab0b7f7ce12b7a31fab12594d9cbd742475a130.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1515/ausi-2016-0009"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> degruyter.com </button> </a>

Survey on Computer Vision for UAVs: Current Developments and Trends

Christoforos Kanellakis, George Nikolakopoulos
<span title="2017-01-27">2017</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/j3lijnt6abap7pt7tsbut2pnum" style="color: black;">Journal of Intelligent and Robotic Systems</a> </i> &nbsp;
To this extent, visual sensing techniques have been integrated in the control pipeline of the UAVs in order to enhance their navigation and guidance skills.  ...  The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends.  ...  , and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10846-017-0483-z">doi:10.1007/s10846-017-0483-z</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/2abqia3mlnedrlonxhlsjanffy">fatcat:2abqia3mlnedrlonxhlsjanffy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190417193047/https://core.ac.uk/download/pdf/81077888.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fb/39/fb39b1a73b37170d22d2588fd5af460c17156ce2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10846-017-0483-z"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yuanhao Qu, Minghao Yang, Jiaqing Zhang, Wu Xie, Baohua Qiang, Jinlong Chen
<span title="2021-02-25">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/taedaf6aozg7vitz5dpgkojane" style="color: black;">Sensors</a> </i> &nbsp;
This work summarizes the multi-sensor fusion methods for mobile agents' navigation by: (1) analyzing and comparing the advantages and disadvantages of a single sensor in the task of navigation; (2) introducing  ...  The representatives of nonlinear optimization methods are open keyframe-based visual-inertial SLAM (OKVIS) [75] and visual-inertial state monocular (VINS-mono) [76] .  ...  The representatives of nonlinear optimization methods are open keyframe-based visual-inertial SLAM (OKVIS) [75] and visual-inertial state monocular (VINS-mono) [76] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s21051605">doi:10.3390/s21051605</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/33668886">pmid:33668886</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC7956205/">pmcid:PMC7956205</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/7twh225phbbupjd4fv2fw6twum">fatcat:7twh225phbbupjd4fv2fw6twum</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210301143816/https://res.mdpi.com/d_attachment/sensors/sensors-21-01605/article_deploy/sensors-21-01605-v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c9/fd/c9fdd72fe8d9270db94d8c3260ba647431723657.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s21051605"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7956205" title="pubmed link"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> pubmed.gov </button> </a>

Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking

Myriam Servières, Valérie Renaudin, Alexis Dupuis, Nicolas Antigny, Stelios M. Potirakis
<span title="2021-02-25">2021</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zlknqk4ahbcsthbafxw55emm7a" style="color: black;">Journal of Sensors</a> </i> &nbsp;
With the advent of smart devices, embedding cameras, inertial measurement units, visual SLAM (vSLAM), and visual-inertial SLAM (viSLAM) are enabling novel general public applications.  ...  The performance of five open-source methods Vins-Mono, ROVIO, ORB-SLAM2, DSO, and LSD-SLAM is compared using the EuRoC MAV dataset and a new visual-inertial dataset corresponding to urban pedestrian navigation  ...  Visual SLAM (vSLAM) using solely cameras and visual-inertial SLAM (viSLAM) using inertial measurement units (IMUs) give a good illustration of these new SLAM strategies. vSLAM has probably attracted most  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2021/2054828">doi:10.1155/2021/2054828</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/46q54mmpw5eethadiovdb4ay7y">fatcat:46q54mmpw5eethadiovdb4ay7y</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210718104814/https://hal.archives-ouvertes.fr/hal-03187856/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/bd/44/bd44582b495f2793b8d4554315568df2a23ad049.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2021/2054828"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> hindawi.com </button> </a>

A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networks [article]

Baichuan Huang, Jun Zhao, Jingbin Liu
<span title="2020-02-14">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Additionally, visual inertial odometry is supplemented. For Lidar and visual fused SLAM, the paper highlights the multi-sensors calibration, the fusion in hardware, data, task layer.  ...  Simultaneous Localization and Mapping (SLAM) achieves the purpose of simultaneous positioning and map construction based on self-perception.  ...  On the one hand, maplab can be considered as a ready-to-use visual-inertial mapping and localization system.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1909.05214v4">arXiv:1909.05214v4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/itnluvkewfd6fel7x65wdgig3e">fatcat:itnluvkewfd6fel7x65wdgig3e</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200321164709/https://arxiv.org/pdf/1909.05214v4.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1909.05214v4" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

State of the Art in Vision-Based Localization Techniques for Autonomous Navigation Systems

Yusra Alkendi, Lakmal Seneviratne, Yahya Zweiri
<span title="">2021</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
In addition, ROVIO [144] is another tightly coupled approach based on EKF using a monocular camera and an IMU.  ...  [144] have proposed an EKF-based VIO, ROVIO, using a monocular camera.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3082778">doi:10.1109/access.2021.3082778</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bgt6qrpdcngnrisgnday74ohsm">fatcat:bgt6qrpdcngnrisgnday74ohsm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210717231650/https://ieeexplore.ieee.org/ielx7/6287639/6514899/09438708.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8e/91/8e91c90bce5e87cc08d641a343c54e547d084dad.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3082778"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Monocular vision-based autonomous navigation system on a toy quadcopter in unknown environments

Rui Huang, Ping Tan, Ben M. Chen
<span title="">2015</span> <i title="IEEE"> 2015 International Conference on Unmanned Aircraft Systems (ICUAS) </i> &nbsp;
An Extended Kalman filter (EKF) is designed for sensor fusion. Thanks to the proposed EKF, accurate 3D positions and velocities can be estimated as well as the scaling factor of the monocular SLAM.  ...  In this paper, we present an monocular visionbased autonomous navigation system for a commercial quadcoptor. The quadcoptor communicates with a ground-based laptop via wireless connection.  ...  Visual SLAM techniques use video cameras for simultaneously localisation and mapping. Klein et al. [5] built a system called PTAM using a color camera for visual SLAM. Newcombe et al.  ... 
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<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809114824/http://www.cs.sfu.ca/~pingtan/Papers/ICUAS15.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d7/30/d7302e6613acf860d8b16e44ba239dc710f46c83.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icuas.2015.7152419"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM [article]

Tong Qin, Perliang Li, Shaojie Shen
<span title="2018-03-05">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this paper, we propose a monocular visual-inertial SLAM system, which can relocalize camera and get the absolute pose in a previous-built map.  ...  The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation.  ...  Recently, assisting the monocular camera with a low-cost inertial measurement unit (IMU) has become a popular trend.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1803.01549v1">arXiv:1803.01549v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/32xxm2c4tvcunhq7gtf3nafvvq">fatcat:32xxm2c4tvcunhq7gtf3nafvvq</a> </span>
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SelfVIO: Self-Supervised Deep Monocular Visual-Inertial Odometry and Depth Estimation [article]

Yasin Almalioglu, Mehmet Turan, Alp Eren Sari, Muhamad Risqi U. Saputra, Pedro P. B. de Gusmão, Andrew Markham, Niki Trigoni
<span title="2020-07-23">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this study, we introduce a novel self-supervised deep learning-based VIO and depth map recovery approach (SelfVIO) using adversarial training and self-adaptive visual-inertial sensor fusion.  ...  SelfVIO learns to jointly estimate 6 degrees-of-freedom (6-DoF) ego-motion and a depth map of the scene from unlabeled monocular RGB image sequences and inertial measurement unit (IMU) readings.  ...  OKVIS [39] is a widely used, optimization-based visualinertial SLAM approach for monocular and stereo cameras.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1911.09968v2">arXiv:1911.09968v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/vxucv3n6mred3p6pnh5w4wrvki">fatcat:vxucv3n6mred3p6pnh5w4wrvki</a> </span>
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