Sensing and mapping its surroundings is an essential requirement for a mobile robot.
Geometric maps endow robots with the capacity of basic tasks, eg, navigation. To co-exist …

This paper proposes G-VIDO, a vehicle dynamics, and intermittent Global Navigation
Satellite System (GNSS)-aided visual-inertial state estimator, to address the state estimation …

For positioning tasks of mobile robots in indoor environments, the emerging positioning
technique based on visual inertial odometry (VIO) is heavily influenced by light and suffers …

We propose LIO-Vehicle, a new tightly-coupled vehicle dynamics extension of LiDAR inertial
odometry (LIO) method that provides highly accurate, robust, and real-time vehicle trajectory …

An accurate and globally consistent navigation system is crucial for estimating the positions
and attitudes of automated guided vehicles (AGVs) in digital workshops. A promising …

In this paper, we develop a novel visual-inertial navigation system with motion constraint
(VINS-Motion), which extends the visual-inertial navigation system (VINS) to incorporate …

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders,
cameras, LiDARs, and GPS holds great potential due to its innate ability to improve …

We present a systematic approach called Extended VINS-Mono to utilize VINS-Mono, a state-
of-the-art monocular visual-inertial relative localization method, targeting practical vehicle …

Odometer-aided visual-inertial SLAM systems typically have a good performance for
navigation of wheeled platforms, while they usually suffer from degenerate cases before the …

Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial
Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in …