Abstract Visual Simultaneous Localization and Mapping (VSLAM) technology has become a
key technology in autonomous driving and robot navigation. Relying on camera sensors …

Many years after construction, a number of existing old tunnels and underground structures
are deteriorating with time as evidenced by cracks, large deformations, water leakage and …

Combining Global Navigation Satellite System (GNSS) with visual and inertial sensors can
give smooth pose estimation without drifting. The fusion system gradually degrades to Visual …

This paper investigates the problem of inertial navigation system (INS) filter design through
the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the …

While most visual SLAM systems traditionally prioritize accuracy or speed, the associated
memory consumption would also become a concern for robots working in large‐scale …

We present a novel optimization-based Visual-Inertial SLAM system designed for multiple
partially over-lapped camera systems, named MAVIS. Our framework fully exploits the …

This paper reports on developing a real-time invariant proprioceptive robot state estimation
framework called DRIFT. A didactic introduction to invariant Kalman filtering is provided to …

This paper develops a novel slip estimator using the invariant observer design theory and
Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully …

The kinematics of many control systems, especially in the robotics field, naturally live on
smooth manifolds. Most classical state-estimation algorithms, including the extended …

We consider problems pertaining to the navigation and localization of mobile mechanical
systems such as robots or crafts. We focus on the recently introduced theory of two-frame …