4 accepted papers
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are less exploited for aerial navigation. In this paper, we dev
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial Navigation System (GVINS) that fuses visual, inertial, and raw GNS…
Accurate and real-time global pose estimation relative to a global prior map is indispensable in many applications, such as logistics with micro aerial vehicles and Augmented Reality. Supposed that a pure sparse 3D point map can provide a structureless representation of the environment, then generat…
This paper addresses the problem of visual-inertial odometry (VIO) with a downward facing monocular camera when a micro aerial vehicle (MAV) flying at high altitude (over 100 meters). It is important to note that large scene depth causes visual motion constraints significantly less informative than…