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论文阅读:Vehicle-Motion-Constraint-Based Visual-Inertial-Odometer Fusion With OnlineExtrinsicCalibration
论文阅读翻译原创 2024-03-23 14:44:01 · 1199 阅读 · 0 评论 -
论文阅读:Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases
论文阅读总结原创 2024-02-24 09:50:25 · 1865 阅读 · 1 评论 -
论文阅读:A Rotation-Translation-Decoupled Solution for Robust and Efficient VI Initialization
A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization论文阅读,提出了一种新的VIO初始化方法,提高了精度与鲁棒性。原创 2024-01-02 09:27:04 · 1160 阅读 · 0 评论 -
论文阅读:Stereo Visual-Inertial Odometry With Online Initialization and Extrinsic Self-Calibration
论文阅读总结,这篇论文是对于双目VIO的初始化估计,主要工作是结合了外参的标定,实现了在线标定未知外参数能力的立体VIO。原创 2024-01-02 09:26:29 · 1006 阅读 · 1 评论 -
论文阅读Estimator Initialization in Vision-aided Inertial Navigation with Unknown Camera-IMU Calibration
Estimator Initialization in Vision-aided Inertial Navigation with Unknown Camera-IMU Calibration论文阅读,这是OpenVINS中动态初始化使用的方法,这篇论文主要是提出了一个不需要先验信息(不需要初始时静止)的初始状态估计方法。原创 2023-12-12 19:33:07 · 988 阅读 · 0 评论 -
论文阅读:Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation
论文阅读总结,本文解决了在没有先验知识的情况下准确的UWB锚点初始化问题,提出一个两阶段UWB锚点精确估计的方法:首先使用随机三角化点进行粗锚点初始化和偏差估计。然后,这些值用于基于FIM的优化,以生成用于锚点位置和测量偏差的优化步骤的最佳三角测量点。原创 2023-12-08 17:14:00 · 923 阅读 · 0 评论 -
论文阅读:UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initial
这篇论文针对的是UWB-VIO的锚点估计问题,针对随机轨迹初始化UWB锚点的局限性。在利用最优双法重新建模最小二乘问题进行粗定位,并使用LM进行非线性细化后,采用几何精度因子( Geometric Dilution of Precision,GDOP )作为锚点位置估计的最优性度量,利用基于网格的进化算法计算一组最优航路点并合成一条最小化映射不确定性的轨迹。初始化完成后,来自多个锚节点的距离测量,包括测量偏差,被紧密集成到VIO系统中。而在初始化的锚节点范围内,VIO在位置和航向上的漂移被消除。原创 2023-12-06 17:26:05 · 1173 阅读 · 3 评论 -
论文阅读:Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization
Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization论文的阅读总结。原创 2023-12-04 20:49:34 · 886 阅读 · 0 评论 -
论文阅读:Distributed Initialization for VIRO with Position-Unknown UWB Network
论文阅读Distributed Initialization for Visual-Inertial-Ranging Odometry with Position-Unknown UWB Network的总结原创 2023-11-29 21:05:39 · 1489 阅读 · 0 评论 -
论文阅读:Estimating Odometry Scale and UWB Anchor Location Based on Semidefinite ProgrammingOptimization
论文阅读总结:Estimating Odometry Scale and UWB Anchor Location Based on Semidefinite ProgrammingOptimization,这里面主要研究了利用升尺度里程计和UWB测距数据的里程计尺度和锚点位置估计问题。原创 2023-11-28 14:06:58 · 868 阅读 · 0 评论 -
论文阅读:C2VIR-SLAM: Centralized Collaborative Visual-Inertial-Range SLAM
C2VIR-SLAM: Centralized Collaborative Visual-Inertial-Range Simultaneous Localization and Mapping原创 2023-11-22 21:46:27 · 479 阅读 · 6 评论 -
论文阅读:Visual-inertial SLAM aided estimation of anchor poses and sensor error model parameters of UWB
Visual-inertial SLAM aided estimation of anchor poses and sensor error model parameters of UWB论文阅读总结原创 2023-11-20 14:43:51 · 107 阅读 · 0 评论 -
论文阅读:Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization
Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization论文阅读总结原创 2023-11-15 18:54:40 · 233 阅读 · 0 评论 -
论文阅读:FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry论文阅读总结原创 2023-11-14 19:33:04 · 321 阅读 · 0 评论