no code implementations • 16 Dec 2021 • Lintong Zhang, Marco Camurri, David Wisth, Maurice Fallon
We present a multi-camera LiDAR inertial dataset of 4. 5 km walking distance as an expansion of the Newer College Dataset.
no code implementations • 13 Sep 2021 • Lintong Zhang, David Wisth, Marco Camurri, Maurice Fallon
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget.
no code implementations • 15 Jul 2021 • David Wisth, Marco Camurri, Maurice Fallon
This bias is observable because of the tight fusion of this preintegrated velocity factor with vision, lidar, and IMU factors.
no code implementations • 13 Nov 2020 • David Wisth, Marco Camurri, Sandipan Das, Maurice Fallon
True integration of lidar features with standard visual features and IMU is made possible using a subtle passive synchronization of lidar and camera frames.