Search results for: Tue-Cuong Dong-Si
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This paper focuses on motion estimation using inertial measurements and observations of naturally occurring point features. To date, this task has primarily been addressed using filtering methods, which track the system state starting from known initial conditions. However, when no prior knowledge of the initial system state is available, (e.g., at the onset of the system's operation), the existing...
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In this paper we focus on the problem of visual odometry, i.e., the task of tracking the pose of a moving platform using visual measurements. In recent years, several VO algorithms have been proposed that employ nonlinear minimization in a sliding window of poses for this task. Through the use of iterative re-linearization, these methods are capable of successfully addressing the nonlinearity of the...
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This paper presents a fixed-lag smoothing algorithm for tracking the motion of a mobile robot in real time. The algorithm processes measurements from proprioceptive (e.g., odometry, inertial measurement unit) and exteroceptive (e.g., camera, laser scanner) sensors, in order to estimate the trajectory of the vehicle. Smoothing is carried out in the information-filtering framework, and utilizes iterative...
