Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments

30 April 2021

Papers citing "Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments"

50 / 71 papers shown

Title
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart Kostas Alexis Marco Hutter 31 0 0 10 May 2025
Robust Statistics vs. Machine Learning vs. Bayesian Inference: Insights into Handling Faulty GNSS Measurements in Field Robotics Haoming Zhang 23 0 0 08 Apr 2025
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs Julian Nubert Turcan Tuna Jonas Frey Cesar Cadena Katherine J. Kuchenbecker Shehryar Khattak Marco Hutter 34 3 0 08 Apr 2025
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning Yufei Jiang Yuanzhu Zhan Harsh Vardhan Gupta Chinmay Borde Junyi Geng SSL 39 0 0 05 Apr 2025
LL-Localizer: A Life-Long Localization System based on Dynamic i-Octree Xinyi Li Shenghai Yuan Haoxin Cai Shunan Lu Wenhua Wang Jianqi Liu 42 0 0 02 Apr 2025
MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry Yuheng Qiu Yutian Chen Zihao Zhang Wenshan Wang Sebastian A. Scherer 55 0 0 13 Mar 2025
Learning-based GNSS Uncertainty Quantification using Continuous-Time Factor Graph Optimization Haoming Zhang 65 0 0 06 Mar 2025
Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization Katya M. Papais Daniil Lisus David J. Yoon A. Lambert K. Leung T. Barfoot 37 1 0 03 Mar 2025
A2DO: Adaptive Anti-Degradation Odometry with Deep Multi-Sensor Fusion for Autonomous Navigation Hui Lai Qi Chen Junping Zhang Jian Pu 34 0 0 28 Feb 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 63 3 0 17 Feb 2025
AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability Yuheng Qiu Can Xu Yutian Chen Shibo Zhao Junyi Geng Sebastian A. Scherer 45 0 0 28 Jan 2025
Map Prediction and Generative Entropy for Multi-Agent Exploration Alexander Spinos Bradley Woosley Justin Rokisky Christopher Korpela John G. Rogers III Brian A. Bittner 80 1 0 22 Jan 2025
AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation Taimeng Fu Zitong Zhan Zhipeng Zhao Shaoshu Su Xiao Lin Ehsan Esfahani Karthik Dantu Souma Chowdhury Chen Wang 97 1 0 22 Jan 2025
SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks Shibo Zhao Honghao Zhu Yuanjun Gao Beomsoo Kim Yuheng Qiu Aaron M. Johnson Sebastian A. Scherer 72 1 0 03 Dec 2024
LiPO: LiDAR Inertial Odometry for ICP Comparison Darwin Mick Taylor Pool Madankumar Sathenahally Nagaraju Michael Kaess Howie Choset Matt Travers 24 2 0 10 Oct 2024
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 42 8 0 14 Jul 2024
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation Xiaofeng Guo Guanqi He Jiahe Xu M. Mousaei Junyi Geng Sebastian Scherer Guanya Shi 46 6 0 08 Jul 2024
CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services DongKi Noh Hyungtae Lim Gyuho Eoh Duckyu Choi Jeongsik Choi Hyunjun Lim SeungMin Baek Hyun Myung 33 2 0 28 Jun 2024
Enhancing Prosthetic Safety and Environmental Adaptability: A Visual-Inertial Prosthesis Motion Estimation Approach on Uneven Terrains Chuheng Chen Xinxing Chen Shucong Yin Yuxuan Wang Binxin Huang Yuquan Leng Chenglong Fu 32 0 0 29 Apr 2024
Modular, Resilient, and Scalable System Design Approaches -- Lessons learned in the years after DARPA Subterranean Challenge Prasanna Sriganesh James Maier Adam Johnson Burhanuddin Shirose Rohan Chandrasekar Charles Noren Joshua Spisak Ryan Darnley Bhaskar Vundurthy Matthew Travers 27 3 0 27 Apr 2024
TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments Chen Yao Yangtao Ge Guowei Shi Zirui Wang Ningbo Yang Zheng Zhu Hexiang Wei Yuntian Zhao Jing Wu Zhenzhong Jia 19 3 0 25 Mar 2024
Deep Bayesian Future Fusion for Self-Supervised, High-Resolution, Off-Road Mapping Shubhra Aich Wenshan Wang Parv Maheshwari Matthew Sivaprakasam S. Triest Cherie Ho Jason M. Gregory John G. Rogers Sebastian A. Scherer 43 3 0 18 Mar 2024
SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection Yifu Tao Yash Bhalgat L. Fu Matías Mattamala Nived Chebrolu Maurice F. Fallon 35 14 0 11 Mar 2024
HDA-LVIO: A High-Precision LiDAR-Visual-Inertial Odometry in Urban Environments with Hybrid Data Association Jian Shi Wei Wang Mingyang Qi Xin Li Ye Yan 27 0 0 11 Mar 2024
Degradation Resilient LiDAR-Radar-Inertial Odometry Morten Nissov Nikhil Khedekar Kostas Alexis 42 8 0 08 Mar 2024
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments Zhiqiang Chen Hongbo Chen Yuhua Qi Shipeng Zhong Dapeng Feng Wu Jin Weisong Wen Ming Liu 49 3 0 29 Feb 2024
A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning Qizhao Chen Ziqi Hu Junyi Geng Dongwei Bai M. Mousaei Sebastian A. Scherer 26 0 0 12 Feb 2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements Xing Li Haoying Li Guangyang Zeng Qingcheng Zeng Xiaoqiang Ren Chao Yang Junfeng Wu 26 0 0 07 Feb 2024
TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks Matthew Sivaprakasam Parv Maheshwari Mateo Guaman Castro S. Triest Micah Nye Steven Willits Andrew Saba Wenshan Wang Sebastian A. Scherer 43 13 0 02 Feb 2024
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 50 64 0 14 Dec 2023
Multi-Radar Inertial Odometry for 3D State Estimation using mmWave Imaging Radar Jui-Te Huang Ruoyang Xu Akshay Hinduja Michael Kaess 14 17 0 15 Nov 2023
Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning Rowan Border Nived Chebrolu Yifu Tao Jonathan Gammell Maurice F. Fallon 31 3 0 06 Nov 2023
PIAug -- Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation Parv Maheshwari Wenshan Wang S. Triest Matthew Sivaprakasam Shubhra Aich John G. Rogers Jason M. Gregory Sebastian A. Scherer 39 12 0 01 Nov 2023
AirIMU: Learning Uncertainty Propagation for Inertial Odometry Yuheng Qiu Chen Wang Can Xu Yutian Chen Xunfei Zhou Youjie Xia Sebastian A. Scherer 29 8 0 07 Oct 2023
Aerial Interaction with Tactile Sensing Xiaofeng Guo Guanqi He M. Mousaei Junyi Geng Guanya Shi Sebastian A. Scherer 16 12 0 29 Sep 2023
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System W. Lee Patrick Geneva Chuchu Chen Guoquan Huang 36 7 0 27 Sep 2023
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization Haoming Zhang Chih-Chun Chen Heike Vallery Tim D. Barfoot 32 8 0 20 Sep 2023
Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline Xiaolei Lang Chao Chen Kai Tang Yukai Ma Jiajun Lv Yong-jin Liu Xingxing Zuo 19 17 0 18 Sep 2023
Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems Alexander Kyuroson A. Koval G. Nikolakopoulos 23 1 0 14 Aug 2023
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition Seungchan Kim Micah Corah John Keller Graeme Best Sebastian A. Scherer 3DPC 25 8 0 27 Jul 2023
LIO-GVM: an Accurate, Tightly-Coupled Lidar-Inertial Odometry with Gaussian Voxel Map Xingyu Ji Shenghai Yuan Peng Yin Lihua Xie 16 13 0 30 Jun 2023
Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV Guanqi He Yash Jangir Junyi Geng M. Mousaei Dongwei Bai Sebastian Scherer 11 10 0 28 Jun 2023
Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models Eric Chen Cherie Ho Mukhtar Maulimov Chen Wang Sebastian Scherer 27 9 0 27 Jun 2023
Rhino: An Autonomous Robot for Mapping Underground Mine Environments Christopher Tatsch J. A. Bredu Dylan Covell I. B. Tulu Yu Gu 29 6 0 11 May 2023
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration Alexander Kyuroson Niklas Dahlquist Nikolaos Stathoulopoulos Vignesh Kottayam Viswanathan A. Koval G. Nikolakopoulos 35 4 0 27 Apr 2023
Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments L. Schmid Olov Andersson Aurelio Sulser Patrick Pfreundschuh Roland Siegwart 29 38 0 20 Apr 2023
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity David J. Yoon Keenan Burnett Johann Laconte Yi Chen Heethesh Vhavle S. Kammel J. Reuther Timothy D. Barfoot 27 9 0 11 Mar 2023
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge N. Kottege Jason L. Williams Brendan Tidd Fletcher Talbot Ryan Steindl ... J. Manderson Corey Medek M. O'Brien Shengkang Chen R. Arkin 46 9 0 26 Feb 2023
Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM Jiajun Lv Xiaolei Lang Jinhong Xu Mengmeng Wang Yong-jin Liu Xingxing Zuo 27 23 0 15 Feb 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 39 64 0 15 Feb 2023