In the article, we focus on the robustness of monocular visual-inertial-wheel odometry
(VIWO) in urban environments. In the urban environment, the rapid changes in terrain and …

In this article, we propose a new methodology to fuse visual-inertial measurements for land
vehicles in a challenging urban environment in which a GNSS signal is not available nor …

In this paper, we introduce a novel visual-inertial-wheel odometry (VIWO) system for ground
vehicles, which efficiently fuses multi-modal visual, inertial and 2D wheel odometry …

Point and line features are complementary in Visual-Inertial Odometry (VIO) or Visual-Inertial
Simultaneous Localization And Mapping (VI-SLAM) systems. The advantage of combining …

Combining camera, IMU and wheel encoder is a wise choice for car positioning because of
the low cost and complementarity of the sensors. We propose a novel extended visual …

The precise measuring of vehicle location has been a critical task in enhancing the
autonomous driving in terms of intelligent decision making and safe transportation. Internet …

To address the problem of estimating camera trajectory and to build a structural three-
dimensional (3D) map based on inertial measurements and visual observations, this paper …

Structural geometry constraints, such as perpendicularity, parallelism and coplanarity, are
widely existing in man-made scene, especially in Manhattan scene. By fully exploiting these …

Autonomous positioning in complex urban areas is a challenging problem and has attracted
increasing attention in academia. Multisensor fusion of camera, inertial measurement unit …

Visual-inertial odometry (VIO) is the problem of estimating a robot's trajectory by combining
information from an inertial measurement unit (IMU) and a camera and is of great interest to …