3 papers
cs.RO2026
DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles
Kyungmin Jung, Angad Bajwa, Junha Yoo +2
This paper presents a novel acoustic-visual-inertial odometry solution leveraging a continuous-time trajectory estimation framework for unmanned underwater vehicles. Underwater env…
cs.RO2023
navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine +3
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mains…
cs.RO2023
Bayesian Filtering for Homography Estimation
Arturo Del Castillo Bernal, Philippe Decoste, James Richard Forbes
This paper considers homography estimation in a Bayesian filtering framework using rate gyro and camera measurements. The use of rate gyro measurements facilitates a more reliable…