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Found 10 papers, 1 papers with code
Linear Relative Pose Estimation Founded on Pose-only Imaging Geometry
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation.
Clifford Algebra-Based Iterated Extended Kalman Filter with Application to Low-Cost INS/GNSS Navigation
The traditional GNSS-aided inertial navigation system (INS) usually exploits the extended Kalman filter (EKF) for state estimation, and the initial attitude accuracy is key to the filtering performance.
iNavFIter-M: Matrix Formulation of Functional Iteration for Inertial Navigation Computation
This paper proposes a computationally efficient matrix formulation of the functional iteration approach, named the iNavFIter-M.
A Pose-only Solution to Visual Reconstruction and Navigation
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment.
A Trident Quaternion Framework for Inertial-based Navigation Part II: Error Models and Application to Initial Alignment
This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate the odometer-aided static/in-motion inertial navigation attitude alignment for land vehicles.
Robotics Systems and Control Systems and Control
A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation
This paper proposes a compact and elegant representation of the body's attitude, velocity and position, with the aid of a devised trident quaternion tool in which the position is accounted for by adding a second imaginary part to the dual quaternion.
Robotics Systems and Control Systems and Control
Segmenting Epipolar Line
Identifying feature correspondence between two images is a fundamental procedure in three-dimensional computer vision.
General Method for Prime-point Cyclic Convolution over the Real Field
A general and fast method is conceived for computing the cyclic convolution of n points, where n is a prime number.
StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environments
Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity.
Robotics
Equivalent Constraints for Two-View Geometry: Pose Solution/Pure Rotation Identification and 3D Reconstruction
The PPO constraints are simplified and formulated in the form of inequalities to directly identify the right pose solution with no need of 3D reconstruction and the 3D reconstruction can be analytically achieved from the identified right pose.
