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 …

Vision-based localization systems, namely visual odometry (VO) and visual inertial odometry
(VIO), have attracted great attention recently. They are regarded as critical modules for …

Visual–inertial odometry (VIO) is known to suffer from drifting, especially over long-term runs.
In this article, we present GVINS, a nonlinear optimization-based system that tightly fuses …

One camera and one low-cost inertial measurement unit (IMU) form a monocular visual-
inertial system (VINS), which is the minimum sensor suite (in size, weight, and power) for the …

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 …

An increasing number of robotic systems feature multiple inertial measurement units (IMUs).
Due to competing objectives-either desired vicinity to the center of gravity when used in …

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 …

We address the state estimation, control, and planning for aggressive flight with a 150 cm
diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement …

Accurate state estimation is a fundamental module for various intelligent applications, such
as robot navigation, autonomous driving, virtual and augmented reality. Visual and inertial …

Autonomous micro aerial vehicles (MAVs) have cost and mobility benefits, making them
ideal robotic platforms for applications including aerial photography, surveillance, and …