Obstacle detection is one of the main tasks in intelligent vehicle navigation systems. Several
research works focused on the use of passive vision (cameras) to accomplish this task have …

In this paper, we develop a novel visual-inertial navigation system with motion constraint
(VINS-Motion), which extends the visual-inertial navigation system (VINS) to incorporate …

This paper presents an online self-supervised approach to monocular visual odometry and
ground classification applied to ground vehicles. We solve the motion and structure problem …

Robustness in on-road driving Visual Odometry (VO) systems is critical, as it determines the
reliable performance in various scenarios and environments. Especially with the …

3D object perception in maritime is a promising means to enhance the ability of the
autonomous navigation. However, 3D automatic reconstruction of dynamic targets remains a …

To solve the problem of real-time precise localization in CPS-denied places, a monocular
visual odometry method based on optical flow tracking and feature matching is proposed. To …

In this paper, we propose a novel, efficient stereo visual-odometry algorithm for ground
vehicles moving in outdoor environments. To avoid the drawbacks of computationally …

This paper presents a monocular visual odometry algorithm that incorporates a wheeled
vehicle model for ground vehicles. The main innovation of this algorithm is to use the single …

Traditional visual odometry approaches often rely on estimating the world in the form a 3D
cloud of points from key frames, which are then projected onto other frames to determine …

During the exploration of an unknown environment, a mobile platform needs to know its
location in order to accomplish its mission. Such a localization, however, is only possible …