3 accepted papers
In this paper, a sliding-window two-camera vision-aided inertial navigation system (VINS) is presented in the square-root inverse domain. The performance of the system is assessed for the cases where feature matches across the two-camera images are processed with or without any stereo constraints (i…
In this paper, we seek to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce the Cholesky-Schmidt-Kalman filter (C-SKF), which explicitly considers the uncertainty of the prior map, by employing the sparse…
In this paper, we address the problem of cooperative mapping (CM) using datasets collected by multiple users at different times, when the transformation between the users' starting poses is unknown. Specifically, we formulate CM as a constrained optimization problem, where each user's independently