Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms

6 March 2021

Boyu Zhou

Shaojie Shen

Papers citing "Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms"

44 / 44 papers shown

Title
EdgePoint2: Compact Descriptors for Superior Efficiency and Accuracy Haodi Yao Fenghua He Ning Hao Chen Xie 33 0 0 24 Apr 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey Chuqi Wang Chao-Hua Yu Xin Xu Yuman Gao Xinyi Yang ... ZhuoZhu Jian X. Chen Fei Gao Boyu Zhou Yu Wang 52 0 0 10 Mar 2025
Distributed Certifiably Correct Range-Aided SLAM Alexander Thoms Alan Papalia Jared Velasquez David M. Rosen Sriram Narasimhan 60 0 0 05 Mar 2025
Concurrent-Learning Based Relative Localization in Shape Formation of Robot Swarms (Extended version) Jinhu Lu Kunrui Ze Shuoyu Yue Kexin Liu Wei Wang Guibin Sun 34 1 0 08 Oct 2024
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms Fangcheng Zhu Yunfan Ren Longji Yin Fanze Kong Qingbo Liu ... Wenyi Liu Yixi Cai Guozheng Lu Haotian Li Fu Zhang 39 6 0 26 Sep 2024
Accurately Tracking Relative Positions of Moving Trackers based on UWB Ranging and Inertial Sensing without Anchors Rayan Armani Christian Holz 28 0 0 19 Sep 2024
ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges Thien-Minh Nguyen Yizhuo Yang T. Nguyen Shenghai Yuan Lihua Xie 31 4 0 17 Sep 2024
Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation Lianjie Guo Zaitian Gongye Ziyi Xu Yingjian Wang Xin Zhou Jinni Zhou Fei Gao 29 0 0 01 Jul 2024
General Place Recognition Survey: Towards Real-World Autonomy Peng Yin Jianhao Jiao Shiqi Zhao Lingyun Xu Guoquan Huang Howie Choset Sebastian A. Scherer Jianda Han 42 7 0 08 May 2024
Ultra Inertial Poser: Scalable Motion Capture and Tracking from Sparse Inertial Sensors and Ultra-Wideband Ranging Rayan Armani Changlin Qian Jiaxi Jiang Christian Holz 27 14 0 30 Apr 2024
FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarms Yuanxin Li Anke Zhao Yingjian Wang Ziyi Xu Xin Zhou Jinni Zhou Chao Xu Fei Gao 26 1 0 20 Mar 2024
MSI-NeRF: Linking Omni-Depth with View Synthesis through Multi-Sphere Image aided Generalizable Neural Radiance Field Dongyu Yan Guanyu Huang Fengyu Quan Haoyao Chen MDE 20 0 0 16 Mar 2024
Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations S. S. Ahmed Mohammed Shalaby Jérôme Le Ny James Richard Forbes 43 1 0 01 Mar 2024
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms Shipeng Zhong Hongbo Chen Yuhua Qi Dapeng Feng Zhiqiang Chen Jin Wu Weisong Wen Ming-Yu Liu 27 3 0 19 Feb 2024
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities S. S. Ahmed Mohammed Shalaby C. C. Cossette Jérôme Le Ny James Richard Forbes 32 2 0 13 Feb 2024
MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments Andrew Fishberg Brian J. Quiter Jonathan P. How 31 5 0 29 Dec 2023
SwarMer: A Decentralized Localization Framework for Flying Light Specks Hamed Alimohammadzadeh Shahram Ghandeharizadeh 21 3 0 15 Nov 2023
Fast Localization and Tracking in City-Scale UWB Networks Nakul Garg Irtaza Shahid R. Sheshadri K. Sundaresan Nirupam Roy 13 2 0 03 Oct 2023
Fully Onboard SLAM for Distributed Mapping with a Swarm of Nano-Drones Carl Friess Vlad Niculescu T. Polonelli Michele Magno Luca Benini 23 6 0 07 Sep 2023
An Evaluation of Three Distance Measurement Technologies for Flying Light Specks Trung Phan Hamed Alimohammadzadeh Heather Culbertson Shahram Ghandeharizadeh 31 1 0 19 Aug 2023
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization Giulio Delama Farhad Shamsfakhr Stephan Weiss Daniele Fontanelli Alessandro Fornasier 19 5 0 01 Aug 2023
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle Václav Pritzl Matouš Vrba P. Štěpán M. Saska 11 5 0 30 Jun 2023
Fusing Odometry, UWB Ranging, and Spatial Detections for Relative Multi-Robot Localization Xianjia Yu Iacopo Catalano Paola Torrico Morón Sahar Salimpour Tomi Westerlund Jorge Peña Queralta 14 3 0 13 Apr 2023
Range-Aided LiDAR-Inertial Multi-Vehicle Mapping in Degenerate Environment Zhenlu Jin Chaoyang Jiang 8 3 0 15 Mar 2023
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles Pavel Petráček Vít Krátký Matěj Petrlík Tomáš Báča R. Kratochvíl M. Saska 18 59 0 06 Mar 2023
Distributed Optimization in Sensor Network for Scalable Multi-Robot Relative State Estimation Tianyue Wu Fei Gao 12 0 0 02 Mar 2023
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems Huan Yin Xuecheng Xu Shan Lu Xieyuanli Chen R. Xiong Shaojie Shen C. Stachniss Yue Wang 23 64 0 15 Feb 2023
CREPES: Cooperative RElative Pose Estimation System Zhiren Xun J. Huang Zhehan Li Zhenjun Ying Yingjian Wang Chao Xu Fei Gao Yanjun Cao 27 10 0 02 Feb 2023
SRIBO: An Efficient and Resilient Single-Range and Inertia Based Odometry for Flying Robots Wei Dong Zheyuan Mei Yuanjiong Ying Sijia Chen Yichen ie Xiangyang Zhu 15 2 0 06 Nov 2022
$D^2$ SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm Hao Xu Peize Liu Xinyi Chen Shaojie Shen 12 31 0 03 Nov 2022
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System Boyu Zhou Hao Xu Shaojie Shen 27 96 0 18 Sep 2022
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry Fangcheng Zhu Yunfan Ren Fanze Kong Huajie Wu Siqi Liang Nan Chen Wei Xu Fu Zhang 30 26 0 14 Sep 2022
LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents Ze-yuan Wang Kailun Yang Hao-miao Shi Peng Li Fei Gao Jian Bai Kaiwei Wang 22 9 0 12 Sep 2022
UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems Paola Torrico Morón Salma Salimi Jorge Peña Queralta Tomi Westerlund 9 9 0 29 Aug 2022
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements C. C. Cossette Mohamed Fouad Shalaby David Saussié Jérôme Le Ny James Richard Forbes 37 17 0 27 May 2022
Multi-Agent Relative Pose Estimation with UWB and Constrained Communications Andrew Fishberg Jonathan P. How 11 26 0 21 Mar 2022
Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation Paola Torrico Morón Jorge Peña Queralta Tomi Westerlund 25 10 0 08 Mar 2022
Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment Peng Peng Wei Dong Gang Chen Xiangyang Zhu 27 13 0 27 Feb 2022
MIR-VIO: Mutual Information Residual-based Visual Inertial Odometry with UWB Fusion for Robust Localization Sungjae Shin E. Lee Junho Choi Hyun Myung 8 10 0 02 Sep 2021
Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization Peihan Zhang Gang Chen Yuzhu Li Wei Dong 19 33 0 12 Aug 2021
Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements Zhiqiang Cao Ran Liu Chau Yuen A. Athukorala Benny Kai Kiat Ng M. Mathanraj U-Xuan Tan 8 37 0 19 Jul 2021
6-DoF Object Pose from Semantic Keypoints Georgios Pavlakos Xiaowei Zhou Aaron Chan Konstantinos G. Derpanis Kostas Daniilidis 81 391 0 14 Mar 2017
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras Raul Mur-Artal Juan D. Tardós 201 5,352 0 20 Oct 2016
Visual-Inertial Monocular SLAM with Map Reuse Raul Mur-Artal Juan D. Tardós 174 667 0 19 Oct 2016