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 …

This paper presents the formalization of the closest point plane representation and an
analysis of its incorporation in 3D indoor simultaneous localization and mapping (SLAM) …

In this paper, we propose a novel robocentric formulation of the visual–inertial navigation
system (VINS) within a sliding-window filtering framework and design an efficient …

As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it
holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile …

In this paper, we propose a new analytical preintegration theory for graph-based sensor
fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors) …

The visual-inertial navigation system (VINS) has been a practical approach for state
estimation in recent years. In this paper, we propose a general GPS-aided omnidirectional …

Autonomous navigation of miniaturized robots (eg, nano/pico aerial vehicles) is currently a
grand challenge for robotics research, due to the need of processing a large amount of …

In this letter we present a novel method to perform target tracking of a moving rigid body
utilizing an inertial measurement unit with cameras. A key contribution is the tightly-coupling …

This paper presents a tightly-coupled aided inertial navigation system (INS) with point and
plane features, a general sensor fusion framework applicable to any visual and depth …

In this paper, we present a real-time multi-IMU visual-inertial navigation system (mi-VINS)
that utilizes the information from multiple inertial measurement units (IMUs) and thus is …