Autonomous mobile robots are becoming more prominent in recent time because of their
relevance and applications to the world today. Their ability to navigate in an environment …

In this tutorial, we provide principled methods to quantitatively evaluate the quality of an
estimated trajectory from visual (-inertial) odometry (VO/VIO), which is the foundation of …

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 …

In recent years, vision-aided inertial odometry for state estimation has matured significantly.
However, we still encounter challenges in terms of improving the computational efficiency …

This paper presents a visual-inertial odometry framework that tightly fuses inertial
measurements with visual data from one or more cameras, by means of an iterated …

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have
become widely available due to their small size and low cost. Inertial sensor measurements …

In this paper, we present a monocular visual-inertial odometry algorithm which, by directly
using pixel intensity errors of image patches, achieves accurate tracking performance while …

Major advances in smartphones and tablets in terms of their built-in sensors (esp. cameras),
available computational power and on-board memory are transforming the role of such …

Combining visual and inertial measurements has become popular in mobile robotics, since
the two sensing modalities offer complementary characteristics that make them the ideal …

The development of a navigation system is one of the major challenges in building a fully
autonomous platform. Full autonomy requires a dependable navigation capability not only in …