VIDO: A Robust and Consistent Monocular Visual-Inertial-Depth Odometry

Gao, Yuanxi; Yuan, Jing; Jiang, Jingqi; Sun, Qinxuan; Zhang, Xuebo

doi:10.1109/tits.2022.3226719

Cited by 5 publications

(1 citation statement)

References 56 publications

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“…Furthermore, UWB technology requires the cumbersome deployment of base stations and may prove intricate to implement. Yuanxi Gao et al [4]. proposed a robust single-camera visual-inertialdepth odometry (VIDO) for satellite-denied environments, facilitating 6-degree-of-freedom pose estimation without relying on prior information.…”

Section: Introductionmentioning

confidence: 99%

Combined Localization Method for Multimodal Wheel-Track Robots in Sheltered Space

Lin,

Su,

Zhao

et al. 2024

IEEE Access

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In response to the localization challenges posed by multi-modal motion mode transitions during the locomotion of tracked-wheel robots in sheltered spaces, this paper presents a combination localization method based on Inertial Navigation System/Odometry (INS/OD). Leveraging the unique locomotion structure of tracked-wheel robots, a multi-modal odometry motion model and non-holonomic constrained (NHC) velocity model are established. A closed-loop extended Kalman filter is employed to construct the combination localization model, facilitating real-time computation and correction of the robot's heading angle using the odometry motion model, effectively mitigating system errors and preventing heading divergence. Practical localization tests were conducted on tracked-wheel robots to assess the performance of the proposed method. The results demonstrate that the combination localization method achieves position errors within 0.3578 meters, representing only 0.31% of the total travel distance, with an average error of 0.1611 meters, thus satisfying the practical localization requirements of tracked-wheel robots.INDEX TERMS sheltered spaces, NHC, multi-modal motion, tracked-wheel robots, INS/OD (Inertial Navigation System/Odometry).

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Section: Introductionmentioning

confidence: 99%

Combined Localization Method for Multimodal Wheel-Track Robots in Sheltered Space

Lin,

Su,

Zhao

et al. 2024

IEEE Access

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BASL-AD SLAM: A Robust Deep-Learning Feature-Based Visual SLAM System With Adaptive Motion Model

Han,

Dong,

Kan

2024

IEEE Trans. Intell. Transport. Syst.

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Modelling and protection of grotto temples based on iterative closest point and Poisson

2024

Infrastructure Asset Management

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Cultural relics carry the precious heritage of historical culture and contemporary civilization, and their importance cannot be replaced. However, as a non renewable cultural heritage, grotto temples are facing many value threats and crises of rapid extinction. Due to the unique environment, diverse volume, and complex geometric structure of the cave temples, the protection of cultural relics faces enormous challenges, and digitization has become the most important and effective preventive protection method. In this study, a perfect modeling method is proposed, that is, using 3 D laser scanning technology to obtain the point cloud data of grottoes relics, near-up photogrammetry to obtain multi-angle and high-resolution two-dimensional image data, and obtaining the complete geometric model of grottoes through the fusion modeling of laser point cloud and image dense matching point cloud. In addition, according to the texture mapping problem of complex models, the high resolution mapping of the texture image is realized by using the weighted thin plate spline function, so as to obtain the high quality and high precision three-dimensional cultural relic model. The improved algorithm’s registration method performs better in terms of Euclidean distance residuals, with residuals mainly distributed in the range of 0.02 to 0.03 millimeters. In terms of texture mapping, the model mapping accuracy is adjusted by adjusting the constraints of control points. The grayscale values of 50 pixels around the control point show significant gradient changes in the X direction, while the changes in the Y direction are relatively small. These methods and technologies provide practical and effective means for the protection and preservation of cultural relics in cave temples, and will provide important references for future cultural relic protection work.

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VIDO: A Robust and Consistent Monocular Visual-Inertial-Depth Odometry

Cited by 5 publications

References 56 publications

Combined Localization Method for Multimodal Wheel-Track Robots in Sheltered Space

Combined Localization Method for Multimodal Wheel-Track Robots in Sheltered Space

BASL-AD SLAM: A Robust Deep-Learning Feature-Based Visual SLAM System With Adaptive Motion Model

Modelling and protection of grotto temples based on iterative closest point and Poisson

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