Zobrazeno 1 - 10
of 10
pro vyhledávání: '"Dimitrios G. Kottas"'
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783319609157
ISRR (2)
ISRR (2)
In this paper, we present an iterative Kalman smoother (IKS) for robust 3D localization and mapping, using visual and inertial measurements. Contrary to extended Kalman filter (EKF) methods, smoothing increases the convergence rate of critical parame
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1053d18217825e3c4fdd385607c3496e
https://doi.org/10.1007/978-3-319-60916-4_28
https://doi.org/10.1007/978-3-319-60916-4_28
Publikováno v:
IEEE Transactions on Robotics. 30:158-176
In this paper, we study estimator inconsistency in vision-aided inertial navigation systems (VINS) from the standpoint of system's observability. We postulate that a leading cause of inconsistency is the gain of spurious information along unobservabl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0dbd4e1a821904409559c82700a9a985
https://doi.org/10.1109/tro.2013.2277549
https://doi.org/10.1109/tro.2013.2277549
Publikováno v:
The International Journal of Robotics Research. 33:182-201
This work investigates the relationship between system observability properties and estimator inconsistency for a Vision-aided Inertial Navigation System (VINS). In particular, first we introduce a new methodology for determining the unobservable dir
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c7429ce4f130f0fb4436ee8312616d77
https://doi.org/10.1177/0278364913509675
https://doi.org/10.1177/0278364913509675
Publikováno v:
Springer Tracts in Advanced Robotics ISBN: 9783319293622
ISRR
ISRR
This paper addresses the problem of estimating the intrinsic parameters of the 3D Velodyne lidar while at the same time computing its extrinsic calibration with respect to a rigidly connected camera. Existing approaches to solve this nonlinear estima
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::aae47027b2419ba0136db105e188dac9
https://doi.org/10.1007/978-3-319-29363-9_11
https://doi.org/10.1007/978-3-319-29363-9_11
Publikováno v:
The International Journal of Robotics Research. 31:452-467
In this paper we address the problem of estimating the intrinsic parameters of a 3D LIDAR while at the same time computing its extrinsic calibration with respect to a rigidly connected camera. Existing approaches to solve this nonlinear estimation pr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bb3be89157b060dbaae4b32314c45241
https://doi.org/10.1177/0278364911435689
https://doi.org/10.1177/0278364911435689
Publikováno v:
ICRA
In this paper, we introduce an Iterative Kalman Smoother (IKS) for tracking the 3D motion of a mobile device in real-time using visual and inertial measurements. In contrast to existing Extended Kalman Filter (EKF)-based approaches, smoothing can bet
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e7cc31fa7986349ac70036b9075fa284
https://doi.org/10.1109/icra.2015.7140089
https://doi.org/10.1109/icra.2015.7140089
Publikováno v:
IROS
In this paper, we study the problem of hovering (i.e., absence of translational motion) detection and compensation in Vision-aided Inertial Navigation Systems (VINS). We examine the system's unobservable directions for two common hovering conditions
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a91c64097a683ee4947b875a9e1f8a98
https://doi.org/10.1109/iros.2013.6696807
https://doi.org/10.1109/iros.2013.6696807
Publikováno v:
ICRA
This paper addresses the problem of estimating the state of a vehicle moving in 3D based on inertial measurements and visual observations of lines. In particular, we investigate the observability properties of the corresponding vision-aided inertial
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::fcddda598269ac000d2f93a03b49394e
https://doi.org/10.1109/icra.2013.6630775
https://doi.org/10.1109/icra.2013.6630775
Publikováno v:
Springer Tracts in Advanced Robotics ISBN: 9783642362781
WAFR
WAFR
In this paper, we study estimator inconsistency in Vision-aided Inertial Navigation Systems (VINS) from a standpoint of system observability. We postulate that a leading cause of inconsistency is the gain of spurious information along unobservable di
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e010afbbf96a5e514d0fd55bc88e53c4
https://doi.org/10.1007/978-3-642-36279-8_34
https://doi.org/10.1007/978-3-642-36279-8_34
Publikováno v:
Experimental Robotics ISBN: 9783319000640
ISER
ISER
In this paper, we study estimator inconsistency in Vision-aided Inertial Navigation Systems (VINS). We show that standard (linearized) estimation approaches, such as the Extended Kalman Filter (EKF), can fundamentally alter the system observability p
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2b9440600046166e4ccb78af15ee4ddc
https://doi.org/10.1007/978-3-319-00065-7_22
https://doi.org/10.1007/978-3-319-00065-7_22