Filters








2,992 Hits in 5.0 sec

Guest Editorial Special Issue on Visual SLAM

Jos Neira, Andrew J. Davison, John J. Leonard
2008 IEEE Transactions on robotics  
time and on increasingly large scales.  ...  real-time operation.  ... 
doi:10.1109/tro.2008.2004620 fatcat:u6zxmc3awfbgnkgdghxoitkwni

Visual-Inertial Monocular SLAM With Map Reuse

Raul Mur-Artal, Juan D. Tardos
2017 IEEE Robotics and Automation Letters  
In this work we present a novel tightly-coupled Visual-Inertial Simultaneous Localization and Mapping system that is able to close loops and reuse its map to achieve zero-drift localization in already  ...  We compare to the state-of-the-art in visual-inertial odometry in sequences with revisiting, proving the better accuracy of our method due to map reuse and no drift accumulation.  ...  CONCLUSIONS We have presented in this paper a novel tightly coupled Visual-Inertial SLAM system, that is able to close loops in real-time and localize the sensor reusing the map in already mapped areas  ... 
doi:10.1109/lra.2017.2653359 dblp:journals/ral/Mur-ArtalT17 fatcat:5tv4e6wrifhftluf6ugypbrsj4

Maplab: An Open Framework for Research in Visual-Inertial Mapping and Localization

Thomas Schneider, Marcin Dymczyk, Marius Fehr, Kevin Egger, Simon Lynen, Igor Gilitschenski, Roland Siegwart
2018 IEEE Robotics and Automation Letters  
On the one hand, maplab can be seen as a ready-to-use visual-inertial mapping and localization system.  ...  Furthermore, it includes an online frontend that can create visual-inertial maps and also track a global drift-free pose within a localization map.  ...  It can build new maps from raw visual and inertial sensor data and additionally track a global (drift-free) pose in real-time if a localization map is provided.  ... 
doi:10.1109/lra.2018.2800113 fatcat:cmdn7kx2zvawxo6wzpxcv22gqy

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM [article]

Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel, Juan D. Tardós
2020 arXiv   pre-print
The result is a system that operates robustly in real-time, in small and large, indoor and outdoor environments, and is 2 to 5 times more accurate than previous approaches.  ...  This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models.  ...  The goal of Visual SLAM is to use the sensors on-board a mobile agent to build a map of the environment and compute in real-time the pose of the agent in that map.  ... 
arXiv:2007.11898v1 fatcat:pvo4rwqobbdpbj2idqke6somxe

A Look at Improving Robustness in Visual-inertial SLAM by Moment Matching [article]

Arno Solin, Rui Li, Andrea Pilzer
2022 arXiv   pre-print
As an alternative, we revisit the assumed density formulation of Bayesian filtering and employ a moment matching (unscented Kalman filtering) approach to both visual-inertial odometry and visual SLAM.  ...  The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices.  ...  IV-B, considers replacing the time update in HybVIO [28] , a state-ofthe-art VIO model, with a UKF prediction step for improved robustness in real-world visual-inertial state estimation. A.  ... 
arXiv:2205.13821v1 fatcat:x6u2ngybb5cpnj25qfwfxdf7zm

Real-Time Localization and Mapping Utilizing Multi-Sensor Fusion and Visual–IMU–Wheel Odometry for Agricultural Robots in Unstructured, Dynamic and GPS-Denied Greenhouse Environments

Yaxuan Yan, Baohua Zhang, Jun Zhou, Yibo Zhang, Xiao'ang Liu
2022 Agronomy  
Autonomous navigation in greenhouses requires agricultural robots to localize and generate a globally consistent map of surroundings in real-time.  ...  In this study, a state-of-the-art real-time localization and mapping system was presented to achieve precise pose estimation and dense three-dimensional (3D) point cloud mapping in complex greenhouses  ...  The practical range of the depth camera can reach up to 16 m [32] , so it is helpful to create a visual 3D map of large-scale greenhouse environments.  ... 
doi:10.3390/agronomy12081740 fatcat:2kaui4jbdfc3rbj3qezy3k42iq

REAL-TIME LARGE SCALE 3D RECONSTRUCTION BY FUSING KINECT AND IMU DATA

J. Huai, Y. Zhang, A. Yilmaz
2015 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
However, to generate dense 3D maps of large scale environments is still very challenging.  ...  Moreover, it is immune to tracking failures, and has smaller drift than the state-of-the-art systems in large scale reconstruction.  ...  CONCLUSION We presented an extended KinectFusion system for real-time large scale 3D reconstruction by fusing Kinect and IMU data.  ... 
doi:10.5194/isprsannals-ii-3-w5-491-2015 fatcat:43i6m2ejffgpdkv5wivcthuwg4

Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors

Patrick Robertson, Michael Angermann, Bernhard Krach
2009 Proceedings of the 11th international conference on Ubiquitous computing - Ubicomp '09  
over time.  ...  In this paper we describe a new Bayesian estimation approach for simultaneous mapping and localization for pedestrians based on odometry with foot mounted inertial sensors.  ...  non-linear error growth in inertial integration over time.  ... 
doi:10.1145/1620545.1620560 dblp:conf/huc/RobertsonAK09 fatcat:yqunhfs2izcebkwnjtto7t6g6i

A dual-layer estimator architecture for long-term localization

Anastasios I. Mourikis, Stergios I. Roumeliotis
2008 2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops  
The performance of the developed system is demonstrated in large-scale experiments, involving a vehicle localizing within an urban area.  ...  In this paper, we present a localization algorithm for estimating the 3D position and orientation (pose) of a moving vehicle based on visual and inertial measurements.  ...  These properties render the proposed architecture suitable for large-scale localization applications.  ... 
doi:10.1109/cvprw.2008.4563131 dblp:conf/cvpr/MourikisR08 fatcat:j344reawg5gwhhe2itj75u6rly

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

Meixiang Quan, Songhao Piao, Minglang Tan, Shi-Sheng Huang
2019 IEEE Access  
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.  ...  An overview of the proposed monocular visual-inertial SLAM algorithm is shown in Fig. 1 . The system is complete and drift-free in large scale environments.  ... 
doi:10.1109/access.2019.2904512 fatcat:coe7svjcf5bn5psv3iehfacz34

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

Meixiang Quan, Songhao Piao, Minglang Tan, Shi-Sheng Huang
2018 arXiv   pre-print
in real time on a standard CPU.  ...  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  ...  Our monocular visual-inertial SLAM algorithm is shown in Fig.1 . The system is complete and drift-free in large scale environments. The remainder of the paper is organized as follows.  ... 
arXiv:1706.03648v3 fatcat:o5wiizclkvdkbdgjheaengkyy4

Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping [article]

Weizhao Shao, Srinivasan Vijayarangan, Cong Li, George Kantor
2019 arXiv   pre-print
The system generates loop-closure corrected 6-DOF LiDAR poses in real-time and 1cm voxel dense maps near real-time.  ...  VIL-SLAM accomplishes this by incorporating tightly-coupled stereo visual inertial odometry (VIO) with LiDAR mapping and LiDAR enhanced visual loop closure.  ...  STEREO VISUAL INERTIAL ODOMETRY The goal of the stereo VIO is to provide real-time accurate state estimate at a relatively high frequency, serving as the motion model for the LiDAR mapping algorithm.  ... 
arXiv:1902.10741v1 fatcat:hhbnql4da5gvjodzklqbk5mlzu

PIVO: Probabilistic Inertial-Visual Odometry for Occlusion-Robust Navigation [article]

Arno Solin, Santiago Cortes, Esa Rahtu, Juho Kannala
2018 arXiv   pre-print
This paper presents a novel method for visual-inertial odometry.  ...  Stronger coupling between the inertial and visual data sources leads to robustness against occlusion and feature-poor environments.  ...  Perhaps one of the most promising approaches for precise real-time tracking is visual-inertial odometry, which is based on fusing measurements from inertial sensors (i.e. an accelerometer and gyroscope  ... 
arXiv:1708.00894v2 fatcat:gh6u4mtvojg3plcs55xferev7e

PIVO: Probabilistic Inertial-Visual Odometry for Occlusion-Robust Navigation

Arno Solin, Santiago Cortes, Esa Rahtu, Juho Kannala
2018 2018 IEEE Winter Conference on Applications of Computer Vision (WACV)  
This paper presents a novel method for visual-inertial odometry.  ...  Stronger coupling between the inertial and visual data sources leads to robustness against occlusion and feature-poor environments.  ...  Perhaps one of the most promising approaches for precise real-time tracking is visual-inertial odometry, which is based on fusing measurements from inertial sensors (i.e. an accelerometer and gyroscope  ... 
doi:10.1109/wacv.2018.00073 dblp:conf/wacv/SolinCRK18 fatcat:fnj4arux4va5zfnblf63tz2d6y

Planes, trains and automobiles — autonomy for the modern robot

Gabe Sibley, Christopher Mei, Ian Reid, Paul Newman
2010 2010 IEEE International Conference on Robotics and Automation  
We are concerned with enabling truly large scale autonomous navigation in typical human environments.  ...  Over 181GB of image and inertial data are captured using headmounted stereo cameras. This data is processed into a relative map covering 121 km of Southern England.  ...  While it is certainly possible to build large scale, consistent global world models (especially with the use of GPS), we find that there are numerous real world situations where it is impossible to do  ... 
doi:10.1109/robot.2010.5509527 dblp:conf/icra/SibleyMRN10 fatcat:447gzuc73beldfzxsgpsjfwl3e
« Previous Showing results 1 — 15 out of 2,992 results