We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for
online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for …

This paper introduces a real-time visual SLAM system, TDO-SLAM, using only a stereo
vision camera. TDO-SLAM works not only in static but also in dynamic road environment by …

Event cameras are bio-inspired vision sensors that asynchronously measure per-pixel
brightness changes. The high-temporal resolution and asynchronicity of event cameras offer …

We present a principled study on establishing a novel probabilistic framework for state
estimation. B-splines are embedded in the state-space modeling as a continuous-time …

Accurate and consistent vehicle localization in urban areas is challenging due to the large-
scale and complicated environments. In this paper, we propose onlineFGO, a novel time …

This paper proposes an innovative state estimation method for visual-inertial fusion based
on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev …

The precise calibration of all sensor modalities is crucial for multi-modal sensor fusion in
robotics, which is used for 3D pose estimation (odometry). To achieve optimal calibration …