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[HTML][HTML] Integrated trajectory estimation for 3D kinematic map** with GNSS, INS and imaging sensors: A framework and review
Trajectory estimation refers to the task of obtaining position and orientation estimates by
fusing various sensor inputs. In kinematic map**, global navigation satellite systems …
fusing various sensor inputs. In kinematic map**, global navigation satellite systems …
Robust bundle adjustment revisited
In this work we address robust estimation in the bundle adjustment procedure. Typically,
bundle adjustment is not solved via a generic optimization algorithm, but usually cast as a …
bundle adjustment is not solved via a generic optimization algorithm, but usually cast as a …
SLAM++-A highly efficient and temporally scalable incremental SLAM framework
The most common way to deal with the uncertainty present in noisy sensorial perception and
action is to model the problem with a probabilistic framework. Maximum likelihood …
action is to model the problem with a probabilistic framework. Maximum likelihood …
Visual navigation using heterogeneous landmarks and unsupervised geometric constraints
We present a heterogeneous landmark-based visual navigation approach for a monocular
mobile robot. We utilize heterogeneous visual features, such as points, line segments, lines …
mobile robot. We utilize heterogeneous visual features, such as points, line segments, lines …
Techniques, tools, platforms and algorithms in close range photogrammetry in building 3D model and 2D representation of objects and complex architectures
The aim of this paper is to identify a suitable pipeline in order to build high-resolution 3D
models and 2D orthophotos of objects and architectural structures of particular historical and …
models and 2D orthophotos of objects and architectural structures of particular historical and …
A real-time sliding-window-based visual-inertial odometry for MAVs
This article presents a sliding widow-based visual-inertial odometry to deal with the micro air
vehicle (MAV) pose estimation problem. Errors caused by inertial measurement unit (IMU) …
vehicle (MAV) pose estimation problem. Errors caused by inertial measurement unit (IMU) …
Fast structure from motion for sequential and wide area motion imagery
We present a fast and efficient Structure-from-Motion (SfM) pipeline for refinement of camera
parameters and 3D scene reconstruction given initial noisy camera metadata …
parameters and 3D scene reconstruction given initial noisy camera metadata …
Optimal-state-constraint EKF for visual-inertial navigation
As a visual-inertial navigation system (VINS) becomes prevalent thanks to recent
advancements in cameras and inertial sensors, optimal sensor fusion algorithms are …
advancements in cameras and inertial sensors, optimal sensor fusion algorithms are …
Robust camera pose refinement and rapid SfM for multiview aerial imagery—Without RANSAC
A robust camera pose refinement approach for sequential wide-area airborne imagery is
proposed in this letter. Image frames are sequentially acquired, and with each frame, its …
proposed in this letter. Image frames are sequentially acquired, and with each frame, its …
Fast incremental bundle adjustment with covariance recovery
Efficient algorithms exist to obtain a sparse 3D representation of the environment. Bundle
adjustment (BA) and structure from motion (SFM) are techniques used to estimate both the …
adjustment (BA) and structure from motion (SFM) are techniques used to estimate both the …