In this paper, we present a unified approach for a drift-free and jitter-reduced vision-aided navigation system. This approach is based on an error-state Kalman filter algorithm...
Abstract. Inspired by the abilities of both the praying mantis and the pigeon to judge distance by use of motionbased visually mediated odometry, we create miniature models for dep...
Alfred M. Bruckstein, Robert J. Holt, Igor Katsman...
Work in simultaneous localisation and map-building ("SLAM") for mobile robots has focused on the simplified case in which a robot is considered to move in two dimensions...
We present an image-based Simultaneous Localization and Mapping (SLAM) framework with online, appearanceonly loop closing. We adopt a layered approach with metric maps over small ...
In structure-from-motion with a single camera it is well
known that the scene can be only recovered up to a scale. In
order to compute the absolute scale, one needs to know the
...
Davide Scaramuzza, Friedrich Fraundorfer, Marc Pol...