[go: up one dir, main page]

Jin et al., 2023 - Google Patents

Visual-LiDAR-Inertial Odometry: A New Visual-Inertial SLAM Method Based on an iPhone 12 Pro

Jin et al., 2023

Document ID
12598257811302493003
Author
Jin L
Ye C
Publication year
Publication venue
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

External Links

Snippet

As today's smartphone integrates various imaging sensors and Inertial Measurement Units (IMU) and becomes computationally powerful, there is a growing interest in developing smartphone-based visual-inertial (VI) SLAM methods for robotics and computer vision …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/023—Combination of lidar systems, with systems other than lidar, radar or sonar, e.g. with direction finder
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Similar Documents

Publication Publication Date Title
Zhang et al. Visual-lidar odometry and mapping: Low-drift, robust, and fast
Qiu et al. Real-time temporal and rotational calibration of heterogeneous sensors using motion correlation analysis
Achtelik et al. Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments
Censi et al. Low-latency event-based visual odometry
US9031809B1 (en) Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion
Leung et al. Visual navigation aid for the blind in dynamic environments
Zhang et al. Pirvs: An advanced visual-inertial slam system with flexible sensor fusion and hardware co-design
Lv et al. Continuous-time fixed-lag smoothing for LiDAR-inertial-camera SLAM
JP6782903B2 (en) Self-motion estimation system, control method and program of self-motion estimation system
Ruan et al. Calibration of 3D sensors using a spherical target
CN105469405A (en) Visual ranging-based simultaneous localization and map construction method
Voigt et al. Robust embedded egomotion estimation
Omari et al. Dense visual-inertial navigation system for mobile robots
Fang et al. Real-time onboard 6dof localization of an indoor mav in degraded visual environments using a rgb-d camera
Pirker et al. GPSlam: Marrying Sparse Geometric and Dense Probabilistic Visual Mapping.
Droeschel et al. Omnidirectional perception for lightweight UAVs using a continuously rotating 3D laser scanner
Li et al. Feature assessment and enhanced vertical constraint lidar odometry and mapping on quadruped robot
Jin et al. Visual-LiDAR-Inertial Odometry: A New Visual-Inertial SLAM Method Based on an iPhone 12 Pro
Portugal-Zambrano et al. Robust range finder through a laser pointer and a webcam
Kleinert et al. Inertial aided monocular SLAM for GPS-denied navigation
Voges et al. Finding timestamp offsets for a multi-sensor system using sensor observations
Sizintsev et al. Multi-sensor fusion for motion estimation in visually-degraded environments
Zhang et al. Conquering textureless with rf-referenced monocular vision for mav state estimation
Gao et al. High-precision extrinsic calibration method of a time-of-flight IMU RGB-camera with loop closure constraints
Yang et al. Moving target tracking and measurement with a binocular vision system