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cs.RO2024
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
cs.RO2024
BEV-ODOM: Reducing Scale Drift in Monocular Visual Odometry with BEV Representation
Yufei Wei, Sha Lu, Fuzhang Han +2
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity i…