Benzun Pious Wisely Babu — accepted AI-conference papers

2020

Analytic Combined IMU Integration (ACI2) For Visual Inertial Navigation

Yulin Yang, Benzun Pious Wisely Babu, Chuchu Chen, Guoquan Huang, Liu Ren

ICRA 2020poster

Batch optimization based inertial measurement unit (IMU) and visual sensor fusion enables high rate localization for many robotic tasks. However, it remains a challenge to ensure that the batch optimization is computationally efficient while being consistent for high rate IMU measurements without ma…

Cited by 30 Source ↗Scholar ↗

2018

Detection and Resolution of Motion Conflict in Visual Inertial Odometry

Benzun Pious Wisely Babu, David Cyganski, James Duckworth, Soohwan Kim

ICRA 2018poster

In this paper, we present a novel method to detect and resolve motion conflicts in visual-inertial odometry. Recently, it has been common to integrate an IMU sensor with visual odometry in order to improve localization accuracy and robustness. However, when a disagreement between the two sensor moda…

Cited by 12 Source ↗Scholar ↗