A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Filters
Tightly-coupled Monocular Visual-odometric SLAM using Wheels and a MEMS Gyroscope
[article]
2018
arXiv
pre-print
Preserved Fulltext
In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, ...
Then the novel odometer error term is formulated using the odometer preintegration model and it is tightly integrated into the visual optimization framework. ...
ACKNOWLEDGMENT This paper is supported by National Science Foundation of China[grant number 61375081]; a special fund project of Harbin science and technology innovation talents research [grant number ...
arXiv:1804.04854v1
fatcat:6b6kja765vaizdfpph3e5vp6nu
Review and classification of vision-based localisation techniques in unknown environments
2014
IET radar, sonar & navigation
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2014; you can also visit the original URL.
The file type is application/pdf.
This paper aims to review techniques employing a camera as a localization sensor, provide a classification of techniques and introduce schemes that exploit the use of video information within a multi-sensor ...
low-cost MEMS (Micro- Electro-Mechanical System) INS could drift several hundred metres in one minute [6]). ...
As explained in In [65] and [66] , a monocular SLAM is used and a loosely-coupled approach that fuses inertial and visual data is implemented. ...
doi:10.1049/iet-rsn.2013.0389
fatcat:hpun3pzn6nhuvdw4eyxbtjbedq
VINS on wheels
2017
2017 IEEE International Conference on Robotics and Automation (ICRA)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
In this paper, we present a vision-aided inertial navigation system (VINS) for localizing wheeled robots. ...
To address this limitation, we extend VINS to incorporate low-frequency wheel-encoder data, and show that the scale becomes observable. ...
be combined in a tightly-coupled manner into standard VINS estimators. ...
doi:10.1109/icra.2017.7989603
dblp:conf/icra/WuGGR17
fatcat:pmxugfrf7rh2jjghoicmstlho4