Surround-view fisheye cameras are commonly used for near-field sensing in automated
driving. Four fisheye cameras on four sides of the vehicle are sufficient to cover 360° around …

A review of various calibration techniques of MEMS inertial sensors is presented in this
paper. MEMS inertial sensors are subject to various sources of error, so it is essential to …

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …

Event-based cameras are a new passive sensing modality with a number of benefits over
traditional cameras, including extremely low latency, asynchronous data acquisition, high …

Here we propose a real-time method for low-drift odometry and mapping using range
measurements from a 3D laser scanner moving in 6-DOF. The problem is hard because the …

Place recognition in 3D data is a challenging task that has been commonly approached by
adapting image-based solutions. Methods based on local features suffer from ambiguity and …

In order to increase accuracy and robustness in state estimation for robotics, a growing
number of applications rely on data from multiple complementary sensors. For the best …

An increasing number of robotic systems feature multiple inertial measurement units (IMUs).
Due to competing objectives-either desired vicinity to the center of gravity when used in …

We present a data processing pipeline to online estimate ego‐motion and build a map of the
traversed environment, leveraging data from a 3D laser scanner, a camera, and an inertial …

Modern 3D laser-range scanners have a high data rate, making online simultaneous
localization and mapping (SLAM) computationally challenging. Recursive state estimation …