In this article, we revisit the optimal fusion of visual and inertial information from a monocular
camera and an inertial measurement unit and propose a novel parallel visual-inertial …

Illumination change, image blur, and fast motion dramatically decrease the performance of
visual-inertial navigation systems (VINS). This article presents a new illumination-robust …

Simultaneous localisation and mapping (SLAM) systems have been widely studied over the
past 30 years and extensively applied in various fields such as mobile robotics, augmented …

SLAM typically involves updating numerous landmarks to reconstruct scenes rather than
generating a topological depiction of the actual environment. Planar features, prevalent in …

As edge devices equipped with cameras and inertial measurement units (IMUs) are
emerging, it holds huge implications to endow these mobile devices with spatial computing …

In this paper, we strongly advocate squareroot covariance (instead of information) filtering
for Visual-Inertial Navigation Systems (VINS), in particular on resourceconstrained edge …

In this paper, we introduce a novel estimator for vision-aided inertial navigation systems
(VINS), the Preconditioned Cholesky-based Square Root Information Filter (PC-SRIF). When …

In this paper, we advocate the Decoupled Error and State (DES) methodology for state
estimation, which uses distinct representations for error and state estimates and updates the …