Virtual reality, augmented reality, robotics, and autonomous driving, have recently attracted
much attention from both academic and industrial communities, in which image-based …

Visual odometry (VO) is the process of estimating the egomotion of an agent (eg, vehicle,
human, and robot) using only the input of a single or multiple cameras attached to it …

We present a novel data structure, the Bayes tree, that provides an algorithmic foundation
enabling a better understanding of existing graphical model inference algorithms and their …

While the most accurate solution to off-line structure from motion (SFM) problems is
undoubtedly to extract as much correspondence information as possible and perform batch …

State of the art visual SLAM systems have recently been presented which are capable of
accurate, large-scale and real-time performance, but most of these require stereo vision …

While the most accurate solution to off-line structure from motion (SFM) problems is
undoubtedly to extract as much correspondence information as possible and perform global …

We describe a model to estimate motion from monocular visual and inertial measurements.
We analyze the model and characterize the conditions under which its state is observable …

Modern visual-inertial SLAM (VI-SLAM) achieves higher accuracy and robustness than pure
visual SLAM, thanks to the complementariness of visual features and inertial measurements …

Random sample consensus (RANSAC) has become one of the most successful techniques
for robust estimation from a data set that may contain outliers. It works by constructing model …

ANARKNE embodiments contemplate a novel landmark matching pro cess. Certain of these
embodiments also contemplate a novel landmark creation process. Certain embodiments …