9 papers
Unleashing the Power of Discrete-Time State Representation: Ultrafast Target-based IMU-Camera Spatial-Temporal Calibration
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal st…
Structureless VIO
Junlin Song, Miguel Olivares-Mendez
Visual odometry (VO) is typically considered as a chicken-and-egg problem, as the localization and mapping modules are tightly-coupled. The estimation of a visual map relies on acc…
SPICE-HL3: Single-Photon, Inertial, and Stereo Camera dataset for Exploration of High-Latitude Lunar Landscapes
David Rodríguez-Martínez, Dave van der Meer, Junlin Song +3
Exploring high-latitude lunar regions presents an extremely challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a vis…
Observability Investigation for Rotational Calibration of (Global-pose aided) VIO under Straight Line Motion
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable…
Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumpt…
An Accurate Filter-based Visual Inertial External Force Estimator via Instantaneous Accelerometer Update
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor)…
Joint Spatial-Temporal Calibration for Camera and Global Pose Sensor
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer visi…
GPS-VIO Fusion with Online Rotational Calibration
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +2
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in…
GPS-aided Visual Wheel Odometry
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +1
This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements…