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Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization
2013
Robotics: Science and Systems IX
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Following this trend, we present a novel approach to tightly integrate visual measurements with readings from an Inertial Measurement Unit (IMU) in SLAM. ...
Comparing against both vision-only and loosely-coupled visual-inertial algorithms, our experiments confirm the benefits of tight fusion in terms of accuracy and robustness. ...
Furthermore, the work was sponsored by Willow Garage and the Swiss CTI project no. 13394.1 PFFLE-NM (Visual-Inertial 3D Navigation and Mapping Sensor). ...
doi:10.15607/rss.2013.ix.037
dblp:conf/rss/LeuteneggerFRCKS13
fatcat:hytzhsyh2rac7pca5xzorxwyny
A GPS-aided inertial navigation system in direct configuration
2014
Journal of Applied Research and Technology
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This work presents a practical method for estimating the full kinematic state of a vehicle, along with sensor error parameters, through the integration of inertial and GPS measurements. ...
This kind of system for determining attitude and position of vehicles and craft (either manned or unmanned) is essential for real time, guidance and navigation tasks, as well as for mobile robot applications ...
The integration of inertial sensors with GPS is broadly classified as follows [25] : • Loosely coupled system. • Tightly coupled system. • Ultra-tightly coupled system In loosely coupled systems [8] ...
doi:10.1016/s1665-6423(14)70096-3
fatcat:zlqbju33wjenxpgum6j3fuynfu
On the performance of inertial/GNSS/Doppler Velocity Log integrated navigation systems for marine applications
2015
2015 DGON Inertial Sensors and Systems Symposium (ISS)
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Within the presented work the development of an affordable integrated PNT unit for future on-board integrated systems is presented, where the GNSS information is fused both with inertial and Doppler Velocity ...
Although the GNSS/GPS had become the primary source for Positioning, Navigation and Timing (PNT) information in maritime applications, the ultimate performance of the system can strongly degrade due to ...
Uwe Netzband and Dr. Stefan Gewies for their support in measurement campaigns as well as for building and maintaining the PNT hardware and software. ...
doi:10.1109/inertialsensors.2015.7314276
fatcat:w6ytkqvxkrasjl6g5q6uurd3ma
Monocular visual-inertial SLAM algorithm combined with wheel speed anomaly detection
[article]
2020
arXiv
pre-print
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The algorithm uses a wheel speed odometer pre-integration method to add the wheel speed measurement to the least-squares problem in a tightly coupled manner. ...
chassis movement status in real time. ...
Li et al. and Qin et al. developed the VINS-Mono open source monocular vision inertial mileage calculation method, which is based on tightly coupled nonlinear optimization [10] , [11] . ...
arXiv:2003.09901v1
fatcat:p6vdnhjxozhedax3t3u55deism
Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions
2018
Sensors
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The paper evaluates both loosely and tightly coupled fusion strategies implemented using an unscented Kalman filter (UKF). ...
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. ...
Acknowledgments: The authors would like to thank Baltic Taucher GmbH and especially the crews of the vessels BALTIC DIVER II and AARON for their support during the measurement activities. ...
doi:10.3390/s18092954
pmid:30189646
pmcid:PMC6164504
fatcat:eri5j4uhbfd7lkrmhvgp5wjewq
Accurate Initial State Estimation in a Monocular Visual–Inertial SLAM System
2018
Sensors
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Once the initial state estimation converges, the initial estimated values are used to launch the nonlinear tightly coupled visual-inertial SLAM system. ...
Along with the promotion of computing power and the use of sliding windows, nonlinear optimization and tightly coupled methods [10] [11] [12] have attracted great interest among researchers in recent years ...
After this, tightly coupled filter-based approaches [7, 15] were applied for monocular visual-inertial SLAM. ...
doi:10.3390/s18020506
pmid:29419751
pmcid:PMC5856078
fatcat:qzy4yaqnurayfjwaevd4gtww5y
State of the Art in Vision-Based Localization Techniques for Autonomous Navigation Systems
2021
IEEE Access
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Although the rapid development of GPS technologies, i.e., RTK (real-time kinematic) and PPP (precise point positioning), are capable of providing positions with a decimeter or centimeter's level accuracy ...
In addition, ROVIO [144] is another tightly coupled approach based on EKF using a monocular camera and an IMU. ...
doi:10.1109/access.2021.3082778
fatcat:bgt6qrpdcngnrisgnday74ohsm
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
[article]
2022
arXiv
pre-print
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The VIO module uses a stereo camera and IMU to yield low-drift 3D position and yaw orientation and drift-free pitch and roll orientation of the robot base link in the inertial frame. ...
We integrate this lightweight estimation framework with a nonlinear model predictive controller and show successful implementation of a set of agile locomotion behaviors, including trotting and jumping ...
[15] tightly integrate visual keypoint depth estimation with inertial measurement and preintegrated leg velocity factors. ...
arXiv:2210.02127v3
fatcat:ihrd6trycfhrrp73jogxtbptuu
Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs
2021
2021 IEEE International Conference on Robotics and Automation (ICRA)
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states, thus connecting the whole graph and producing a tightly-coupled whole-body estimator. ...
IMU pre-integration is also used to measure the positional motion of the base. ...
Coming from the drone community in the context of Visual Inertial Odometry [10] , more recent works start to introduce nonlinear optimization to solve real time estimation problems using the factor graph ...
doi:10.1109/icra48506.2021.9561037
fatcat:4xk4xkxzpvb5tbnh6tc52pdfny
Design and Implementation of an Autonomous Electric Vehicle for Self-Driving Control under GNSS-Denied Environments
2021
Applied Sciences
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Simulation and real-time experiments are performed. ...
The proposed control approach uses a modified constrained input-output nonlinear model predictive controller (NMPC) for path-tracking control. ...
A loosely coupled approach for visualinertial systems keeps the visual and inertial framework as independent entities [31] , while a tightly coupled approach combines the visual and inertial parameters ...
doi:10.3390/app11083688
fatcat:ssu2eqfmwfghzp4yfwmxth4awe
Differential GPS aided Inertial Navigation: a Contemplative Realtime Approach
2014
IFAC Proceedings Volumes
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This paper proposes a Contemplative Realtime (CRT) framework for tightly coupled Differential GPS aided inertial navigation. ...
This method guarantees low latency for real-time application and meanwhile enhances the accuracy and reliability of navigation. ...
ACKNOWLEDGEMENTS This research builds on the software of and technical conversations with Anastasios I. Mourikis and Mingyang Li. These technical collaborations are greatly appreciated. ...
doi:10.3182/20140824-6-za-1003.01658
fatcat:e5jdrdd6ergpbj5vy2kcoz6o3i
Improved Stewart platform state estimation using inertial and actuator position measurements
2017
Control Engineering Practice
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This method relies on a tightly-coupled fusion of onplatform inertial sensors and actuator position sensors. ...
As knowledge of velocity and acceleration is also of interest, a novel approach based on a tightly-coupled fusion of on-platform inertial sensors with actuator position sensors is discussed and evaluated ...
doi:10.1016/j.conengprac.2017.03.006
fatcat:xhqob3usefggbjgj7tvftkctgy
Non-Linear Filtering for Precise Point Positioning GPS/INS integration
2014
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Tightly coupled mechanization is adopted, which is developed in the raw measurements domain. ...
Although integrated GPS/INS system involves nonlinear motion state and measurement models, the most common estimation filter employed is extended Kalman filter. ...
Figure 1 . 1 Tightly coupled GPS-PPP/INS implementation.
Figure 3 . 3 Positioning errors comparison. ...
doi:10.5194/isprsarchives-xl-2-127-2014
fatcat:shnlmlnx3bcepfovwo2kebpi2m
Inertial and time-of-arrival ranging sensor fusion
2017
Gait & Posture
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The kinematic sensors can be used to estimate orientation, but can only estimate changes in position over short periods of time. ...
We developed a prototype sensor that includes ultra wideband ranging sensors and kinematic sensors to determine the feasibility of fusing the two sensor technologies to estimate both orientation and position ...
The tightly coupled approach is more scalable and can continuously provide estimates even when there are not enough range sensors to estimate position directly. We use a tightly coupled model. ...
doi:10.1016/j.gaitpost.2017.02.011
pmid:28242567
pmcid:PMC5481529
fatcat:5mzmcpcmlnasbf6galnn6foyee
Integration of GPS Precise Point Positioning and MEMS-Based INS Using Unscented Particle Filter
2015
Sensors
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Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) integrated system involves nonlinear motion state and measurement models. ...
Tightly coupled mechanization is adopted, which is developed in the raw GPS and INS measurement domain. ...
The authors would like to thank Aboelmagd Noureldin of the Royal Military College of Canada and his team for providing the kinematic data set used in this research. ...
doi:10.3390/s150407228
pmid:25815446
pmcid:PMC4431276
fatcat:7aggquiwofdfrfijrpurnqlorq
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