Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 16 of 16 for “"visual-inertial odometry"”.
-
Visual Inertial Odometry with Sparse Deep Learning
In the field of indoor navigation, visual and inertial sensors are essential to localizing a robot. Visual Inertial Odometry (VIO) systems try to figure out the position and orientation of a robot by analyzing data from cameras and inertial sensors. As state-of-the-art VIO systems achieve …
-
Monocular Visual Inertial Odometry using Learning-based Methods
… using a single sensor or multiple sensors. Visual Inertial Odometry (VIO) uses images and inertial measurements to estimate the motion and is considered a key technology for GPS-denied localization in the real world and also virtual reality and augmented reality.</p> <p>This study develops …
-
Sparsity and computation reduction for high-rate visual-inertial odometry
… realtime SLAM solutions. Finally, the SAMWISE visual-inertial estimator is described, and thorough experimental results demonstrate its robustness in a variety of scenarios, particularly to the challenges prescribed by the DARPA Fast Lightweight Autonomy program.
-
Visual-inertial odometry with depth sensing using a multi-state constraint Kalman filter
The goal of visual inertial odometry (VIO) is to estimate a moving vehicle's trajectory using inertial measurements and observations, obtained by a camera, of naturally occurring point features. One existing VIO estimation algorithm for use with a monocular system, is the multi-state constraint …
-
Evaluating UAV Visual-Inertial Odometry Trajectory Error and Feature-Level Metrics over Repetitive Floor Patterns
<p>Visual-Inertial Odometry (VIO) is a widely used state estimation technique for Uncrewed Aerial Vehicle (UAV) navigation in environments where Global Navigation Satellite System (GNSS) signals are unavailable. VIO systems that rely on visual feature tracking are susceptible to performance …
-
Development and evaluation of a dynamically scaled testbed aircraft for a visual inertial odometry dataset
… Propulsion (DEP) aircraft research and for Visual Inertial Odometry (VIO) research. The aircraft is used as a baseline to compare with the DEP aircraft, to draw conclusion regarding the effect of changing to a DEP configuration, and to provide a way to measure the effect that a DEP …
-
TECHNOLOGICAL BREAKTHROUGH TOWARDS THE USE OF A NOVEL VISUAL-INERTIAL ODOMETRY SYSTEM AS AN AID FOR THE DIGITALLY-GUIDED INTERVENTION
Recent data availability of three dimensional imaging brought new possibilities for the guided intervention. The management of complex data requires the use of new tools and new technologies. We analyzed the use of algorithms for the automatic, ai-driven segmentation to extrapolate the best systems …
-
An experimental study of mobile device localization
… for this experiment. The Tango logged visual-inertial-odometry, images, and depth readings at a rate of 1 hz each. The dataset was taken over 2 floors of MIT's New House dormitory and was taken over the span of half an hour, covers about 3 miles of distance, and is 270 megabytes in …
-
Visual-Inertial State Estimation With Information Deficiency
… it is the first step to image rendering. Visual-inertial odometry (VIO) is the de-facto standard algorithm for embedded platforms because it lends itself to lightweight sensors and processors, and maturity in research and industrial development. Various approaches have been proposed to …
-
Pre-integrated dynamics factors and a dynamical agile visual-inertial dataset for UAV perception
… pre-integrated dynamics factors for factor graph visual-inertial odometry (VIO), and a large-scale dataset with a great variety of visual, inertial, and dynamical sensor data from a quadrotor platform. The pre-integrated dynamics factors were tested on a challenging subset of the dataset and …
-
Active Perception for Inertial-Aided Systems
Inertial Measurement Units (IMUs) are proprioceptive sensors that measure angular velocities and linear accelerations which are integrated to estimate the relative pose of vehicles in motion. Estimation algorithms used with IMUs need to account for sensor noises which corrupt the measurements, and …
-
Belief-Space Planning for Real-World Systems: Efficient SLAM-Based Belief Propagation and Continuous-Time Safety
… under SLAM-based estimation schemes like Visual-Inertial Odometry (VIO). This thesis describes a structureless and consistent approximation for belief propagation under SLAM, the efficacy of which is demonstrated in the challenging setting of observability-aware planning for VIO. A key …
-
Energy efficient accelerators for autonomous navigation in miniaturized robots
… and mapping for geometric understanding, using visual-inertial odometry. The chip (Navion) processes 752480 stereo frames at up to 171 fps, with an energy consumption between 1.6 to 3.5 nJ/pixel. Parallelism, rescheduling, resource sharing, exploiting sparsity, and image compression are applied …
-
Towards an Augmented Reality-based Cyber-Physical Production System Planner
… introduces Marve: the Mobile Augmented Reality Visual Editor. Marve is a proof-of-concept Android application that enables line workers to directly configure and control an autonomous mobile robot (AMR)-backed hybrid intralogistics system using lowcost consumer hardware. Workers can use Marve’s …
-
The Resilient Micro Flyer: a New Collision-tolerant Autonomous Robot
… realizes four key functionalities, namely a) visual-inertial odometry for pose estimation, b) a policy for sufficient clearance from nearby objects relying purely on four ultra-lightweight time-of-flight sensors, c) the detection of collisions with the environment as an anomaly on the inertial …
-
Direct Visual and Inertial Odometry for Monocular Mobile Platforms
Nowadays visual and inertial information is readily available from small mobile platforms, such as quadcopters. However, due to the limitation of onboard resource and capability, it is still a challenge to developing localisation and mapping estimation algorithms for small size mobile platforms. …