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Piecewise Linear De-skewing for LiDAR Inertial Odometry [article]

John Henawy, Zhengguo Li, Wei Yun Yau, Gerald Seet, Kong Wah Wan
2021 arXiv   pre-print
An accurate piecewise linear de skewing algorithm is proposed to correct the motion distortions for LiDAR inertial odometry (LIO) using high frequency motion information provided by an Inertial Measurement  ...  Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent.  ...  CONCLUSION REMARKS A novel piecewise linear de-skewing algorithm has been proposed for LiDAR inertial odometry (LIO) of fast moving agents using high frequency motion information provided by an inertial  ... 
arXiv:2108.06078v1 fatcat:umch2hqobbcbbevz2k5bqndbae

Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth [article]

Martin Brossard
2021 arXiv   pre-print
Our approach is particularly suited to describe how uncertainty propagates when the extended pose represents the state of an Inertial Measurement Unit (IMU).  ...  The approach is validated through extensive simulations and applied to sensor-fusion where a loosely-coupled fixed-lag smoother fuses IMU and LiDAR on one hour long experiments using our experimental car  ...  after more than one hour of odometry, without GNSS or LiDAR loop-closure; 6) Figure 12 shows approximately linear grow of the error with respect to time.  ... 
arXiv:2007.14097v2 fatcat:jz3c6wwqjvhk5at6hjqmo2veoi

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake
2015 Autonomous Robots  
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments.  ...  A special thanks to Matt Antone for developing LIDAR calibration and terrain map software that our experiments relied upon.  ...  We are also grateful to Boston Dynamics and Carnegie Robotics for their support during the DRC.  ... 
doi:10.1007/s10514-015-9479-3 fatcat:qakwplqehfgvnkzgcyrjfygomi

Asynchronous Multi-View SLAM [article]

Anqi Joyce Yang, Can Cui, Ioan Andrei Bârsan, Raquel Urtasun, Shenlong Wang
2021 arXiv   pre-print
Existing multi-camera SLAM systems assume synchronized shutters for all cameras, which is often not the case in practice.  ...  For additional information, please see the project website at: https://www.cs.toronto.edu/~ajyang/amv-slam  ...  Tim Barfoot for the detailed and thoughtful feedback on the project and paper, as well as our anonymous ICRA 2021 reviewers for their thorough comments and suggestions.  ... 
arXiv:2101.06562v3 fatcat:3knyn27dyfhctkjppqyhpgpc2i

2019 Index IEEE Journal of Solid-State Circuits Vol. 54

2019 IEEE Journal of Solid-State Circuits  
Palermo, S., +, JSSC March 2019 611-612 Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.  ...  ., +, JSSC Oct. 2019 2680-2690 Distance measurement Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.  ... 
doi:10.1109/jssc.2019.2956675 fatcat:laiuae7dtragjijttgfatsldmu

2020 Index IEEE Transactions on Instrumentation and Measurement Vol. 69

2020 IEEE Transactions on Instrumentation and Measurement  
Converter Using All-Digital Nested Delay-Locked Loops With 50-ps Resolution and High Throughput for LiDAR TIM Nov. 2020 9262-9271 Helsen, J., see Huchel, L., TIM July 2020 4145-4153 Hemavathi, N.,  ...  Instrumentation Applications; TIM April 2020 1519-1529 Heo, S., see Jung, J.H., TIM Oct. 2020 7530-7541 Hernandez, A., see Aparicio-Esteve, E., TIM Aug. 2020 5589-5603 Hernandez, H., de Souza Sanches  ...  ., +, TIM April 2020 974-984 Online Temporal Calibration Based on Modified Projection Model for Visual-Inertial Odometry.  ... 
doi:10.1109/tim.2020.3042348 fatcat:a5f4fsqs45fbbetre6zwsg3dly

Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVs [article]

Taha Elmokadem
2021 arXiv   pre-print
The second part of this report addresses safe navigation for multi-UAV systems. Distributed motion coordination methods of multi-UAV systems for flocking and 3D area coverage are developed.  ...  A desirable feature for UAVs is the ability to navigate and perform tasks autonomously with least human interaction.  ...  The UAV position, linear velocity and linear acceleration ( 𝒑, 𝒗, 𝒂 ∈ R 3 ) are expressed in the inertial frame.  ... 
arXiv:2111.00166v1 fatcat:5jnrdu24xrbhraqzucsfsadl4y

Predictive Whole-Body Control of Humanoid Robot Locomotion [article]

Stefano Dafarra
2020 arXiv   pre-print
This thesis investigates predictive and optimal control techniques for tackling humanoid robot motion tasks.  ...  For example, these machines cannot achieve a constant forward body movement without exploiting contacts with the environment.  ...  A Carnegie Robotics MultiSense-SL head provides two forward-facing cameras and an axial rotating Hokuyo LIDAR.  ... 
arXiv:2004.07699v1 fatcat:faeujck7mvbvtkb2lznfug3p24

Robust Visual Odometry and Dynamic Scene Modelling [article]

Jun Zhang, University, The Australian National
2021
Image-based estimation of camera trajectory, known as visual odometry (VO), has been a popular solution for robot navigation in the past decade due to its low-cost and widely applicable properties.  ...  Visual odometry in dynamic environment is challenging because dynamic parts of the scene violate the static world assumption fundamental in most classical visual odometry algorithms.  ...  The exponential map that takes skew symmetric matrices to rotation matrices is simply the matrix exponential over a linear combination of the generators: exp : so(3) → SO(3) , (3.39) and has the closed  ... 
doi:10.25911/5sqx-6y18 fatcat:o4pn7gkusjebtixv4uvns3ee2y

Event-based Vision for High-Speed Robotics

Elias Müggler
2017
Additionally, this thesis also presents the infrastructure developed to work with event cameras in a de-facto standard robotics platform.  ...  Using these feature tracks, we developed the first sparse, feature-based visual-odometry pipeline. * The first two methods to track the 6-DOF pose of an event camera in a known map.While the first method  ...  Acknowledgement We thank Tobi Delbruck for providing the DAVIS240C and Beat Kueng for helping with data recording.  ... 
doi:10.5167/uzh-144555 fatcat:avqhjlceb5enlldauim6z2w2g4

2021 Index IEEE Transactions on Instrumentation and Measurement Vol. 70

2021 IEEE Transactions on Instrumentation and Measurement  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TIM 2021 5501012 Pose-Invariant Inertial Odometry for Pedestrian Localization.  ...  Moskal, P., +, TIM 2021 2000810 Time Skew Mitigation in Smart Meters for Tampering Detection and Correction.  ... 
doi:10.1109/tim.2022.3156705 fatcat:dmqderzenrcopoyipv3v4vh4ry

2021 Index IEEE Transactions on Industrial Electronics Vol. 68

2021 IEEE transactions on industrial electronics (1982. Print)  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TIE April 2021 2898-2906 Piecewise Stagger Poles With Continuous Skew Edge for Vibration Reduction in Surface-Mounted PM Synchronous Machines.  ...  ., +, TIE Aug. 2021 7199-7208 DVIO: An Optimization-Based Tightly Coupled Direct Visual-Inertial Odometry.  ... 
doi:10.1109/tie.2021.3130363 fatcat:5ahkwd5l4fgnvcveiyso6oc6vy

Artificial Intelligence: Research Impact on Key Industries; the Upper-Rhine Artificial Intelligence Symposium (UR-AI 2020) [article]

Andreas Christ, Franz Quint
2020 arXiv   pre-print
The TriRhenaTech alliance presents a collection of accepted papers of the cancelled tri-national 'Upper-Rhine Artificial Inteeligence Symposium' planned for 13th May 2020 in Karlsruhe.  ...  The authors are responsible for the content of this article. This work was developed in the Fraunhofer Cluster of Excellence "Cognitive Internet Technologies".  ...  The author is responsible for the content of this publication. Acknowledgments Underlying projects to this article are funded by the WTD 81 of the German Federal Ministry of Defense.  ... 
arXiv:2010.16241v1 fatcat:y6lc2dmlyvh55bw2ytfbf7hwta

Direct Pose Estimation and Refinement

Hatem Alismail
2018
Applications include tracking planar targets under sudden and drastic changes in illumination as well as visual odometry in poorly-lit subterranean mines.  ...  Motivated by the success of the proposed approach, we introduce a novel formulation for the joint refinement of pose and structure across multiple views akin to feature-based bundle adjustment (BA).  ...  For so (3) , they are the skew-symmetric matrices generated from 3-vectors, i.e.  ... 
doi:10.1184/r1/6715961 fatcat:mgghk7uvovax5cdmoxws7pdxym

Predictive Whole-Body Control of Humanoid Robot Locomotion [article]

STEFANO DAFARRA
2020
This thesis investigates predictive and optimal control techniques for tackling humanoid robot motion tasks.  ...  For example, these machines cannot achieve a constant forward body movement without exploiting contacts with the environment.  ...  A Carnegie Robotics MultiSense-SL head provides two forward-facing cameras and an axial rotating Hokuyo LIDAR.  ... 
doi:10.15167/dafarra-stefano_phd2020-04-15 fatcat:lpjkfkqoxfgo5dwb7vtkxyruha
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