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F-LOAM: Fast LiDAR Odometry And Mapping [article]

Han Wang, Chen Wang, Chun-Lin Chen, Lihua Xie
2021 arXiv   pre-print
For each scan input, the edge and planar features are extracted and matched to a local edge map and a local plane map separately, where the local smoothness is also considered for iterative pose optimization  ...  In this paper, we propose a general solution that aims to provide a computationally efficient and accurate framework for LiDAR based SLAM.  ...  Once the corresponding optimal edges/planes are derived, we can find the linked global edges or planes for each feature points fromP k .  ... 
arXiv:2107.00822v1 fatcat:axis23yb7fb4bp6krzvw4cyc7i

A Robust Pavement Mapping System Based on Normal-Constrained Stereo Visual Odometry [article]

Huaiyang Huang, Rui Fan, Yilong Zhu, Ming Liu, Ioannis Pitas
2019 arXiv   pre-print
This task usually requires efficient road damage localization, which can be accomplished by the visual odometry system embedded in unmanned aerial vehicles (UAVs).  ...  Pavement condition is crucial for civil infrastructure maintenance.  ...  Among these techniques, visual odometry (VO) and mapping are two essential modules for an automated pavement inspection system deployed on an unmanned aerial vehicle (UAV).  ... 
arXiv:1910.13102v1 fatcat:dbdtmayivfhwrkpbc2kzdbkiue

DV-LOAM: Direct Visual LiDAR Odometry and Mapping

Wei Wang, Jun Liu, Chenjie Wang, Bin Luo, Cheng Zhang
2021 Remote Sensing  
Finally, a Parallel Global and Local Search Loop Closure Detection (PGLS-LCD) module that combines visual Bag of Words (BoW) and LiDAR-Iris feature is applied for place recognition to correct the accumulated  ...  camera while maintaining efficiency.  ...  Acknowledgments: The authors would like to express their gratitude to the editors and the reviewers for their constructive and helpful comments for the substantial improvement of this paper.  ... 
doi:10.3390/rs13163340 fatcat:e23anmsrtnez7oi2eqreuecb7e

Depth-Camera-Aided Inertial Navigation Utilizing Directional Constraints

Usman Qayyum, Jonghyuk Kim
2021 Sensors  
Unlike other visual navigation approaches, this can effectively reduce the drift in the inertial solutions without delay or under small parallax motion.  ...  This paper presents a practical yet effective solution for integrating an RGB-D camera and an inertial sensor to handle the depth dropouts that frequently happen in outdoor environments, due to the short  ...  [16] applied the bundle adjustment technique for the visual-inertial odometry with an efficient loop-closure method. Ref.  ... 
doi:10.3390/s21175913 pmid:34502806 fatcat:chlnewub5nhixc5p4tejak25ya

Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

Krzysztof Ćwian, Michał R. Nowicki, Jan Wietrzykowski, Piotr Skrzypczyński
2021 Sensors  
We present a new approach to the LiDAR SLAM that uses planar patches and line segments for map representation and employs factor graph optimization typical to state-of-the-art visual SLAM for the final  ...  The new map structure and matching of features make it possible to implement in our system an efficient loop closure method, which exploits learned descriptors for place recognition and factor graph for  ...  As this approach is sufficient for a mostly planar motion of ground vehicles, we follow this idea in PlaneLOAM and estimate the sensor motion between two consecutive poses in the LiDAR odometry thread.  ... 
doi:10.3390/s21103445 pmid:34063368 pmcid:PMC8156327 fatcat:g7pf4gopvvfvljnpmrkag4iphy

FloorVLoc: A Modular Approach to Floorplan Monocular Localization

John Noonan, Ehud Rivlin, Hector Rotstein
2020 Robotics  
for global positioning.  ...  Intelligent vehicles for search and rescue, whose mission is assisting emergency personnel by visually exploring an unfamiliar building, require accurate localization.  ...  The optimization framework incorporates the local camera motion with a floorplan-based scale estimate to provide visual odometry and solves for the refined poses via a FloorVLoc Core optimization.  ... 
doi:10.3390/robotics9030069 fatcat:w4pnqg5h2rerrpbkb25a3pc6im

3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection [article]

Christian Häne, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, Paul Furgale, Torsten Sattler, Marc Pollefeys
2017 arXiv   pre-print
Our pipeline is able to precisely calibrate multi-camera systems, build sparse 3D maps for visual navigation, visually localize the car with respect to these maps, generate accurate dense maps, as well  ...  They can be used for multiple purposes such as visual navigation and obstacle detection. We can use a surround multi-camera system to cover the full 360-degree field-of-view around the car.  ...  the 2D-2D feature correspondences found from monocular visual odometry.  ... 
arXiv:1708.09839v1 fatcat:sa2ze4tkg5dqng44u2tjtf2ygu

GM-Livox: An Integrated Framework for Large-Scale Map Construction with Multiple Non-repetitive Scanning LiDARs [article]

Yusheng Wang, Yidong Lou, Weiwei Song, Huan Yu, Zhiyong Tu
2021 arXiv   pre-print
For the purpose of maintaining a restricted number of poses for estimation, we deploy a keyframe based sliding-window optimization strategy in our system.  ...  With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles.  ...  multisensory ground-constrained mapping method that generates less blurry global map with the majority of dynamic objects been removed.  ... 
arXiv:2110.05650v1 fatcat:gbetkteiefewvjtpadpjigbsqa

Maplets: An Efficient Approach for Cooperative SLAM Map Building Under Communication and Computation Constraints [article]

Kevin M. Brink, Jincheng Zhang, Andrew R. Willis, Ryan E. Sherrill, Jamie L. Godwin
2020 arXiv   pre-print
The approach uses a unique organization of batch optimization engines to enable a highly efficient two-tier optimization structure.  ...  The second optimization tier consists of a global optimizer that seeks to optimize those maplet-to-maplet transformations, including any loop closures identified.  ...  Our method for keyframe creation follows the method described in Direct Visual Odometry (DVO-SLAM) [9] .  ... 
arXiv:2005.10310v1 fatcat:lm4a3zyrvjhrndq2bfrcwxdvf4

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping [article]

Tixiao Shan, Brendan Englot, Drew Meyers, Wei Wang, Carlo Ratti, Daniela Rus
2020 arXiv   pre-print
To ensure high performance in real-time, we marginalize old lidar scans for pose optimization, rather than matching lidar scans to a global map.  ...  The estimated motion from inertial measurement unit (IMU) pre-integration de-skews point clouds and produces an initial guess for lidar odometry optimization.  ...  A lightweight and ground-optimized lidar odometry and mapping (LeGO-LOAM) method is proposed in [7] for ground vehicle mapping tasks [8] . Its fusion of IMU measurements is the same as LOAM.  ... 
arXiv:2007.00258v3 fatcat:6spusqoigfgb3pwmekkixnzmza

Parallel, real-time monocular visual odometry

Shiyu Song, Manmohan Chandraker, Clark C. Guest
2013 2013 IEEE International Conference on Robotics and Automation  
We present a real-time, accurate, large-scale monocular visual odometry system for real-world autonomous outdoor driving applications.  ...  Fast-moving vehicles also necessitate immediate global bundle adjustment, which is triggered by our novel keyframe design in parallel with pose estimation in a thread-safe architecture.  ...  Figure 7 shows the recovered visual odometry path from our monocular system, overlaid with the ground truth, for a few example sequences.  ... 
doi:10.1109/icra.2013.6631246 dblp:conf/icra/SongCG13 fatcat:jfc5ni46orae3ifshmmcxraucy

Multi-object Monocular SLAM for Dynamic Environments [article]

Gokul B. Nair, Swapnil Daga, Rahul Sajnani, Anirudha Ramesh, Junaid Ahmed Ansari, Krishna Murthy Jatavallabhula, K. Madhava Krishna
2020 arXiv   pre-print
., a family of infinitely many solutions exist for each pair of motions in the scene).  ...  We propose a multi pose-graph optimization formulation, to resolve the relative and absolute scale factor ambiguities involved.  ...  Fig. 6 : Localizations in ego-camera frame after pose and shape estimations for a dynamic multi-vehicle scenario. 2) Odometry Estimation: For accurate visual odometry, we exploit distinguishable static  ... 
arXiv:2002.03528v2 fatcat:lnwmwshmbjewdomvi6f2dzsztm

Evolution of Visual Odometry Techniques [article]

Shashi Poddar, Rahul Kottath, Vinod Karar
2018 arXiv   pre-print
Towards the end, a list of different datasets for visual odometry and allied research areas are provided for a ready reference.  ...  In this paper, an attempt is made to introduce this topic for beginners covering different aspects of vision based motion estimation task.  ...  The CNN structure has also been used in estimating scale for monocular visual odometry with the help of street masks used for ground plane estimation [148] .  ... 
arXiv:1804.11142v1 fatcat:eu5rygcrljgnhm6igc3ang7oma

Optimal Linear Attitude Estimator for Alignment of Point Clouds

Xue Iuan Wong, Puneet Singla, Taewook Lee, Manoranjan Majji
2018 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  
This paper also shows that the 3 degree of freedom (DOF) special case of OLAE that is of interest for aligning point clouds sensed by road vehicles in self-driving car applications can be effectively solved  ...  These linear equations are solved efficiently with closed form solution without any expensive matrix decomposition or inversion.  ...  Davide [39] introduces a visual odometry algorithm for camera in planar motion with only 1 unknown variable, that leads to a highly efficient 1D RANSAC algorithm for outlier ejection.  ... 
doi:10.1109/cvprw.2018.00199 dblp:conf/cvpr/WongLSM18 fatcat:fmfwbpadqzc6vp63cg23kmv4x4

Neuromorphic Visual Odometry System for Intelligent Vehicle Application with Bio-inspired Vision Sensor [article]

Dekai Zhu, Jinhu Dong, Zhongcong Xu, Canbo Ye, Yinbai Hu, Hang Su, Zhengfa Liu, Guang Chen
2019 arXiv   pre-print
., which make it a promising sensor in the application of in-vehicle visual odometry system. This paper proposes a neuromorphic in-vehicle visual odometry system using feature tracking algorithm.  ...  The work of this paper verifies the feasibility of in-vehicle visual odometry system using neuromorphic cameras.  ...  Bootstrapping Since two main threads of our visual odometry system (pose tracking and depth estimation) rely on each other but the visual odometry system has no available 3D global map for bundle adjustment  ... 
arXiv:1909.02490v1 fatcat:5mjympgpqzbx5jy4y4alahnaee
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