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MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration
We present a novel optimization-based Visual-Inertial SLAM system designed for multiple
partially over-lapped camera systems, named MAVIS. Our framework fully exploits the …
partially over-lapped camera systems, named MAVIS. Our framework fully exploits the …
Globally-optimal event camera motion estimation
Event cameras are bio-inspired sensors that perform well in HDR conditions and have high
temporal resolution. However, different from traditional frame-based cameras, event …
temporal resolution. However, different from traditional frame-based cameras, event …
Multi-camera visual-inertial simultaneous localization and map** for autonomous valet parking
M Abate, A Schwartz, XI Wong, W Luo… - International Symposium …, 2023 - Springer
Localization and map** are key capabilities for self-driving vehicles. In this paper, we
build on Kimera and extend it to use multiple cameras as well as external (eg, wheel) …
build on Kimera and extend it to use multiple cameras as well as external (eg, wheel) …
Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint
Multi-perspective cameras are quickly gaining importance in many applications such as
smart vehicles and virtual or augmented reality. However, a large system size or absence of …
smart vehicles and virtual or augmented reality. However, a large system size or absence of …
MMA: Multi-camera based global motion averaging
In order to fully perceive the surrounding environment, many intelligent robots and self-
driving cars are equipped with a multi-camera system. Based on this system, the structure …
driving cars are equipped with a multi-camera system. Based on this system, the structure …
A novel three-stage robust adaptive filtering algorithm for Visual-Inertial Odometry in GNSS-denied environments
Visual-inertial odometry (VIO) has been widely applied in the autonomous navigation and
positioning of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in …
positioning of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in …
Relative Pose for Nonrigid Multi-Perspective Cameras: The Static Case
Multi-perspective cameras with potentially nonoverlap** fields of view have become an
important exteroceptive sensing modality in a number of applications such as intelligent …
important exteroceptive sensing modality in a number of applications such as intelligent …