3 accepted papers
The visual-inertial navigation system (VINS) has been a practical approach for state estimation in recent years. In this paper, we propose a general GPS-aided omnidirectional visual-inertial state estimator capable of operating in ubiquitous environments and platforms. Our system consists of two par…
We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which transforms a position-only shortest path search (such as A…
We propose a novel omnidirectional stereo camera setup that is formed by two ultra-wide field-of-view (FOV) fisheye cameras. The proposed configuration is formed by two 245-degree FOV fisheye cameras, facing opposite directions, that are rigidly mounted on two sides of a rod. The overlapping view in…