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 …

In the article, we focus on the robustness of monocular visual-inertial-wheel odometry
(VIWO) in urban environments. In the urban environment, the rapid changes in terrain and …

This article introduces visual-depth-inertial-wheel odometry (VDIWO), a robust approach for
real-time localization of mobile robots in indoor and outdoor scenarios. Notably, VDIWO …

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders,
cameras, LiDARs, and GPS holds great potential due to its innate ability to improve …

Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial
Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in …

Visual-inertial odometry (VIO) is an important technology for autonomous robots with power
and payload constraints. In this letter, we propose a novel approach for VIO with stereo …

Aiming at the problem of autonomous positioning for the ground vehicles in the urban areas,
we propose an efficient and practical vehicle positioning method using the measurements …

The data fusion of camera, IMU, and wheel encoder measurements has proved its
effectiveness in localizing ground robots, and obtaining accurate sensor extrinsic …

This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground
robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS …

Autonomous positioning in complex urban areas is a challenging problem and has attracted
increasing attention in academia. Multisensor fusion of camera, inertial measurement unit …