Comparison of modern open-source visual SLAM approaches
D Sharafutdinov, M Griguletskii, P Kopanev… - Journal of Intelligent & …, 2023 - Springer
Simultaneous localization and map** (SLAM) is one of the fundamental areas of research
in robotics and environment reconstruction. State-of-the-art solutions have advanced …
in robotics and environment reconstruction. State-of-the-art solutions have advanced …
Visual-inertial map** with non-linear factor recovery
Cameras and inertial measurement units are complementary sensors for ego-motion
estimation and environment map**. Their combination makes visual-inertial odometry …
estimation and environment map**. Their combination makes visual-inertial odometry …
Stereo visual inertial lidar simultaneous localization and map**
W Shao, S Vijayarangan, C Li… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
Simultaneous Localization and Map** (SLAM) is a fundamental task to mobile and aerial
robotics. LiDAR based systems have proven to be superior compared to vision based …
robotics. LiDAR based systems have proven to be superior compared to vision based …
Efficient and accurate tightly-coupled visual-lidar slam
CC Chou, CF Chou - IEEE Transactions on Intelligent …, 2021 - ieeexplore.ieee.org
We investigate a novel way to integrate visual SLAM and lidar SLAM. Instead of enhancing
visual odometry via lidar depths or using visual odometry as the motion initial guess of lidar …
visual odometry via lidar depths or using visual odometry as the motion initial guess of lidar …
Optimization-based VINS: Consistency, Marginalization, and FEJ
In this work, we present a comprehensive analysis of the application of the First-estimates
Jacobian (FEJ) design methodology in nonlinear optimization-based Visual-Inertial …
Jacobian (FEJ) design methodology in nonlinear optimization-based Visual-Inertial …
Covariance estimation for pose graph optimization in visual-inertial navigation systems
P Shi, Z Zhu, S Sun, Z Rong, X Zhao… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
Pose graph optimization helps reduce drift accumulated in pure odometry of visual
simultaneous localization and map** (SLAM) systems by solving a nonlinear least square …
simultaneous localization and map** (SLAM) systems by solving a nonlinear least square …
Fisher information field: an efficient and differentiable map for perception-aware planning
Z Zhang, D Scaramuzza - ar** less is more: point sparsification for visual SLAM
When adapting Simultaneous Map** and Localization (SLAM) to real-world applications,
such as autonomous vehicles, drones, and augmented reality devices, its memory footprint …
such as autonomous vehicles, drones, and augmented reality devices, its memory footprint …
A Two-step Nonlinear Factor Sparsification for Scalable Long-term SLAM Backend
B Jiang, S Shen - 2024 IEEE International Conference on …, 2024 - ieeexplore.ieee.org
This paper proposes a new nonlinear factor sparsification paradigm for general feature-
based long-term SLAM backend. Given a pose sparsification policy, we aim to scale the …
based long-term SLAM backend. Given a pose sparsification policy, we aim to scale the …