Chapter 1 A Sliding Window Filter for Incremental SLAMSibley, GabeMatthies, LarrySukhatme, Gaurav
this paper introduces a lightweight tightly coupled stereo-inertial SLAM with fisheye cameras, incorporating several key innovations. First, the stereo-fisheye camera is treated as two independent monocular cameras, and the SE(3) transformation is computed between them to minimize the CPU burden during...
While most visual SLAM systems traditionally prioritize accuracy or speed, the associated memory consumption would also become a concern for robots working in large‐scale environments, primarily due to the perpetual preservation of increasing number of redundant map points. Although these redundant map ...
Nowadays, FL has been used in combination with the sensor based navigation technique [85] to improve the incremental learning of the new environment; reinforced based navigation [86] to minimize the angular uncertainty and radial uncertainty present in the environment; and algorithm based navigation ...
Real-time, accurate, and robust positioning system plays a crucial role in many vehicular applications for automatic driving system and Vehicular Ad-hoc Ne
This is YGZ-stereo-inertial SLAM, a stereo inertial VO code. It is designed for stereo and stereo-inertial sensor modules like vi-sensor. It uses a LK optical flow as front-end and a sliding window bundle adjustment as a backend. Feel free to try it in datasets and your own sensors. ...
ORB-SLAM2 Mono, stereo × √ ROVIO multi √ × OKVIS multi √ × VINS-Mono mono √ √ Underwater SFM: SFM recovers the 3D scene structure from unordered images. Most existing methods ignore the influence of medium variation and adopt the pinhole camera model for underwater SFM directly, as...
Simultaneous Localization and Mapping (SLAM) have been widely studied over the last years for autonomous vehicles. SLAM achieves its purpose by constructing a map of the unknown environment while keeping track of the location. A major challenge, which is paramount during the design of SLAM systems...
quires can filter unnecessary data versions when scanning over the version chain. As shown in Fig.5, when traversing the version chain of A1, it records the the cross-chain pointer for A2 when accessing the version 120 of A1. Thus, when reading A2, the scan begins at the record position...
This paper studies the maximum likelihood identification problems of the bilinear-in-parameter output-error systems with colored noise. A hierarchical maxi