Proceedings ArticleDOI
Tightly-Coupled Aided Inertial Navigation with Point and Plane Features
Yulin Yang,Patrick Geneva,Xingxing Zuo,Kevin Eckenhoff,Yong Liu,Guoquan Huang +5 more
- pp 6094-6100
TLDR
This paper presents a tightly-coupled aided inertial navigation system (INS) with point and plane features, a general sensor fusion framework applicable to any visual and depth sensor (e.g., RGBD, LiDAR) configuration, in which the camera is used for point feature tracking anddepth sensor for plane extraction.Citations
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Proceedings ArticleDOI
OpenVINS: A Research Platform for Visual-Inertial Estimation
TL;DR: This paper performs comprehensive validation of the proposed OpenVINS against state-of-the-art open sourced algorithms, showing its competing estimation performance.
Proceedings ArticleDOI
Visual-Inertial Navigation: A Concise Review
TL;DR: Visual-inertial navigation systems (VINS) have become ubiquitous in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of the complementary sensing capabilities and the decreasing costs and size of the sensors as discussed by the authors.
Posted Content
Visual-Inertial Navigation: A Concise Review
TL;DR: This paper surveys thoroughly the research efforts taken in visual-inertial navigation research and strives to provide a concise but complete review of the related work in the hope to accelerate the VINS research and beyond in the authors' society as a whole.
Journal ArticleDOI
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
TL;DR: An efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph that runs in real-time at full framerate using fixed lag smoothing is presented.
Journal ArticleDOI
Observability Analysis of Aided INS With Heterogeneous Features of Points, Lines, and Planes
Yulin Yang,Guoquan Huang +1 more
TL;DR: A thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR, and sonars) with different geometric features is performed, and it is proved that there are at least five (or seven) unobservable directions for the linearized aided INS with a single line (plane) feature.
References
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Proceedings Article
An iterative image registration technique with an application to stereo vision
Bruce D. Lucas,Takeo Kanade +1 more
TL;DR: In this paper, the spatial intensity gradient of the images is used to find a good match using a type of Newton-Raphson iteration, which can be generalized to handle rotation, scaling and shearing.
Journal ArticleDOI
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
TL;DR: In this article, a robust and versatile monocular visual-inertial state estimator is presented, which is the minimum sensor suite (in size, weight, and power) for the metric six degrees of freedom (DOF) state estimation.