As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems
(VINS) have prevailed in a wide range of applications from mobile augmented reality to …

Surround-view fisheye cameras are commonly used for near-field sensing in automated
driving. Four fisheye cameras on four sides of the vehicle are sufficient to cover 360° around …

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in
terms of perception, planning, learning, and control. A versatile and standardized platform is …

Humans are able to form a complex mental model of the environment they move in. This
mental model captures geometric and semantic aspects of the scene, describes the …

Visual odometry and SLAM methods have a large variety of applications in domains such as
augmented reality or robotics. Complementing vision sensors with inertial measurements …

Over the last decade, the use of autonomous drone systems for surveying, search and
rescue, or last-mile delivery has increased exponentially. With the rise of these applications …

In this paper, we present a large dataset with a variety of mobile mapping sensors collected
using a handheld device carried at typical walking speeds for nearly 2.2 km around New …

We introduce EDS, a direct monocular visual odometry using events and frames. Our
algorithm leverages the event generation model to track the camera motion in the blind time …

This article proposes a learning method for denoising gyroscopes of Inertial Measurement
Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude) of a …

Visual navigation systems are susceptible to complex environments, while inertial
navigation systems (INS) are not affected by external factors. Hence, we present IC-GVINS …