Are doppler velocity measurements useful for spinning radar odometry?

D Lisus, K Burnett, DJ Yoon, R Poulton… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Spinning, frequency-modulated continuous-wave (FMCW) radars with 360° coverage have
been gaining popularity for autonomous-vehicle navigation. However, unlike …

Continuous-Time State Estimation Methods in Robotics: A Survey

W Talbot, J Nubert, T Tuna, C Cadena… - arXiv preprint arXiv …, 2024 - arxiv.org
Accurate, efficient, and robust state estimation is more important than ever in robotics as the
variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters …

GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation

TM Nguyen, Z Cao, K Li, S Yuan, L Xie - arXiv preprint arXiv:2410.22931, 2024 - arxiv.org
Continuous-time trajectory representation has gained significant popularity in recent years,
as it offers an elegant formulation that allows the fusion of a larger number of sensors and …

AsynEIO: Asynchronous Monocular Event-Inertial Odometry Using Gaussian Process Regression

Z Wang, X Li, Y Zhang, F Zhang - arXiv preprint arXiv:2411.12175, 2024 - arxiv.org
Event cameras, when combined with inertial sensors, show significant potential for motion
estimation in challenging scenarios, such as high-speed maneuvers and low-light …

IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation

K Burnett, AP Schoellig, TD Barfoot - arXiv preprint arXiv:2403.05968, 2024 - arxiv.org
In this technical report, we compare treating an IMU as an input to a motion model against
treating it as a measurement of the state in a continuous-time state estimation framework …

Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics

S Lilge, TD Barfoot - arXiv preprint arXiv:2408.01333, 2024 - arxiv.org
Continuous-time batch state estimation using Gaussian processes is an efficient approach to
estimate the trajectories of robots over time. In the past, relatively simple physics-motivated …

Continuous Gaussian Process Pre-Optimization for Asynchronous Event-Inertial Odometry

Z Wang, X Li, Y Zhang, F Zhang, P Huang - arXiv preprint arXiv …, 2024 - arxiv.org
Event cameras, as bio-inspired sensors, are asynchronously triggered with high-temporal
resolution compared to intensity cameras. Recent work has focused on fusing the event …