Georgios Georgiou — accepted AI-conference papers

2017

VINS on wheels

Kejian J. Wu, Chao X. Guo, Georgios Georgiou, Stergios I. Roumeliotis

ICRA 2017poster

In this paper, we present a vision-aided inertial navigation system (VINS) for localizing wheeled robots. In particular, we prove that VINS has additional unobservable directions, such as the scale, when deployed on a ground vehicle that is constrained to move along straight lines or circular arcs.…

Cited by 205 Source ↗Scholar ↗

2015

A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices

Kejian Wu, Ahmed Ahmed, Georgios Georgiou, Stergios Roumeliotis

RSS 2015poster

In this paper, we present a square-root inverse sliding window filter (SR-ISWF) for vision-aided inertial navigation systems (VINS). While regular inverse filters suffer from numerical issues, employing their square-root equivalent enables the usage of single-precision number representations, thus a…

Cited by 156 Source ↗PDF ↗Scholar ↗