W. Shao, S. Vijayarangan, C. Li, G. Kantor. Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019. 摘要 SLAM是移动和空中机器人的基本任务。基于LiDAR的系统被证明优于视觉系统由于其准确性和鲁棒性。除了该优越性,...
We propose Stereo Visual Inertial LiDAR (VIL) SLAM that performs better on these degenerate cases and has comparable performance on all other cases. VIL-SLAM accomplishes this by incorporating tightly-coupled stereo visual inertial odometry (VIO) with LiDAR mapping and LiDAR enhanced visual loop ...
然而,在许多应用场景中,设备尺寸和重量的限制使得 GPS 无法使用,而 Lidar 和视觉 SLAM 等技术也存在一定的限制。这时,VIO 系统由于只需要 IMU 和一个或两个摄像机模块来估计自主运动,变得非常适合这些应用场景。 本文提出的在线基线校准方法可以提高 Stereo Visual Inertial Odometry 系统的估计性能,满足了自动驾驶、...
题目:DVI-SLAM: A Dual Visual Inertial SLAM Network 名称:DVI-SLAM:双视觉惯性 SLAM 网络 论文:arxiv.org/abs/2309.1381 16.Stereo-NeRF NeRF-Supervised-Deep-Stereo 题目:NeRF-Supervised Deep Stereo 名称:NeRF 监督的立体深度 论文:arxiv.org/abs/2303.1760 代码:github.com/fabiotosi92/ SRF 题目:Ste...
LIDARINERTIAL navigation systemsTraditionally, navigation systems have relied solely on global navigation satellite system (GNSS)/inertial navigation system (INS) integration. When a temporal loss of GNSS signal lock is encountered, these systems would rely on INS, which can sustain short ...
基于nsh_indoor_outdoor数据集的A-LOAM复现(3D LiDAR SLAM) 2629 -- 1:54 App (experiment) single turtlebot3 robot slam based on rrt_exploration package 2651 1 5:58 App RGBD GS-ICP SLAM testing in rgbd_dataset_freiburg2_xyz 769 1 1:40 App 调包侠之自主探索建图 (cartographer + move_base...
我们融合的目的是为建图带来新信息,例如用于路径规划。 由于LIDAR的高精度(见2.1),定位应主要从LIDAR图计算。 要将摄像机包含在定位中,应将此传感器的优先级设置为正确的值。 另一方面,路径规划器肯定会从我们的方法中获得信息。 我们不包括从相机到定位的障碍信息(为此,我们可以使用类似相机SLAM [16]的东西)。
Most visual simultaneous localization and mapping (SLAM) systems are based on the assumption of a static environment in autonomous vehicles. However, when dynamic objects, particularly vehicles, occupy a large portion of the image, the localization accuracy of the system decreases significantly. To mit...
在本文中提出了LidarStereoNet,这是第一个无监督的Lidar-stereo融合网络,它可以在不需要地面真实深度图的情况下以端到端方式进行训练。通过引入一种新的反馈回路连接网络输入和输出,LidarStereoNet可以解决现有Lidar-stereo融合研究中被忽略的激光雷达点噪声和传感器之间的未对准问题。此外,我们建议将分段平面模型纳入网络...
This article presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multimap SLAM with monocular, stereo and RGB-D cameras, using... C Campos,R Elvira,JJG Rodriguez,... - 《IEEE Transactions on Robotics A Publication of the IEEE Robotics & Automation Society》 被...