Are doppler velocity measurements useful for spinning radar odometry?
Spinning, frequency-modulated continuous-wave (FMCW) radars with 360° coverage have
been gaining popularity for autonomous-vehicle navigation. However, unlike …
been gaining popularity for autonomous-vehicle navigation. However, unlike …
Continuous-Time State Estimation Methods in Robotics: A Survey
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 …
variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters …
GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation
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 …
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 …
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
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 …
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 …
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 …
resolution compared to intensity cameras. Recent work has focused on fusing the event …