云南高校图书馆联盟文献共享服务平台- ODOMETRY

ODOMETRY: 作品数：17被引量：39H指数：4; 导出分析报告; 相关领域：自动化与计算机技术更多>>; 相关作者：李丛王力李宗春冯莹曹毓更多>>; 相关机构：中国人民解放军信息工程大学空军预警学院国防科技大学更多>>; 相关期刊：《IEEE/CAA Journal of Automatica Sinica》《Journal of Beijing Institute of Technology》《Journal of Autonomous Intelligence》《IJLAI Transactions on Science and Engineering》更多>>; 相关基金：国家自然科学基金北京市自然科学基金更多>>

Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot: 《Biomimetic Intelligence & Robotics》2025年第1期87-94,共8页Huailiang Ma Aiguo Song Jingwei Li Ligang Ge Chunjiang Fu Guoteng Zhang; supported in part by the National Natural Science Foundation of China(62373223);the Open Research Projects of the State Key Laboratory of Robotics(2023-010).; Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots.Aiming at solving the positioning problem of humanoid robots,we have designed a legged odometry algori...; 关键词：Humanoid robots State estimation Legged odometry Kalman filter

Localization and mapping algorithm based on Lidar-IMU-Camera fusion: 《Journal of Intelligent and Connected Vehicles》2024年第2期97-107,共11页Yibing Zhao Yuhe Liang Zhenqiang Ma Lie Guo Hexin Zhang; supported by the National Natural Science Foundation of China(Grant Nos.51975088 and 51975089).; Positioning and mapping technology is a difficult and hot topic in autonomous driving environment sensing systems.In a complex traffic environment,the signal of the Global Navigation Satellite System(GNSS)will be bloc...; 关键词：Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain(LEGO-LOAM) monocular vision system error state Kalman filter ODOMETER

KLT-VIO:Real-time Monocular Visual-Inertial Odometry: 《IJLAI Transactions on Science and Engineering》2024年第1期8-16,共9页Yuhao Jin Hang Li Shoulin Yin; This paper proposes a Visual-Inertial Odometry(VIO)algorithm that relies solely on monocular cameras and Inertial Measurement Units(IMU),capable of real-time self-position estimation for robots during movement.By inte...; 关键词：Visual-inertial odometry Opticalﬂow Point features Line features Bundle adjustment

HRegNet-LO:基于端到端深度神经网络的LiDAR里程计测量被引量：1: 《光学学报》2023年第24期271-279,共9页付永健李宗春何华王力李丛; 国家自然科学基金(42071454)。; 针对传统LiDAR里程计(LO)测量方法在处理无初值、长序列点云配准时存在精度低、稳定性差等问题,本文引入端到端点云配准网络(HRegNet),提出一种基于深度神经网络的LO测量方法——HRegNet-LO算法,以期实现更加准确、鲁棒的LO测量。所提...; 关键词：HRegNet网络 LiDAR里程计特征地图迭代最近邻点 Kitti odometry数据集

M2C-GVIO:motion manifold constraint aided GNSS-visual-inertial odometry for ground vehicles被引量：1: 《Satellite Navigation》2023年第1期77-91,I0003,共16页Tong Hua Ling Pei Tao Li Jie Yin Guoqing Liu Wenxian Yu; the National Nature Science Foundation of China(NSFC)under Grant No.62273229;the Equipment PreResearch Field Foundation under Grant No.80913010303.; Visual-Inertial Odometry(VIO)has been developed from Simultaneous Localization and Mapping(SLAM)as a lowcost and versatile sensor fusion approach and attracted increasing attention in ground vehicle positioning.Howeve...; 关键词：Sensor fusion Visual-inertial odometry Motion manifold constraint

Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration: 《Journal of Shanghai Jiaotong university(Science)》2023年第1期70-76,共7页茅天阳赵文韬王景川陈卫东; the National Key R&D Program of China(No.2020YFC2007500);the National Natural Science Foundation of China(No.U2013203)。; To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile platform.Calibration is a time-consuming process,and mechanical distortion will cause extrins...; 关键词：autonomous vehicles multi-sensor fusion online calibration

Sensor fusion-based approach for the field robot localization on Rovitis 4.0 vineyard robot被引量：2: 《International Journal of Agricultural and Biological Engineering》2022年第6期91-95,共5页Jurij Rakun Matteo Pantano Peter Lepej Miran Lakota; supported by the Veneto Rural Development Program 2014-2020,managing authority Veneto Region-EAFRD Management Authority Parks and Forests.; This study proposed an approach for robot localization using data from multiple low-cost sensors with two goals in mind,to produce accurate localization data and to keep the computation as simple as possible.The appro...; 关键词：LOCALIZATION ODOMETRY IMU RTK GPS VINEYARD ROBOT sensors fusion ROS precision farming

Semi-tightly coupled integration of multi-GNSS PPP and S-VINS for precise positioning in GNSS-challenged environments被引量：12: 《Satellite Navigation》2021年第1期1-14,共14页Xingxing Li Xuanbin Wang Jianchi Liao Xin Li Shengyu Li Hongbo Lyu; the National Natural Science Foundation of China(Grant No.41774030,Grant 41974027);the Hubei Province Natural Science Foundation of China(Grant No.2018CFA081);the National Youth Thousand Talents Program,the frontier project of basic application from Wuhan science and technology bureau(Grant No.2019010701011395);the Sino-German mobility programme(Grant No.M-0054).; Because of its high-precision,low-cost and easy-operation,Precise Point Positioning(PPP)becomes a potential and attractive positioning technique that can be applied to self-driving cars and drones.However,the reliabil...; 关键词：Multi-GNSS PPP Visual-inertial odometry Multi-sensor fusion GNSS-challenged environment Autonomous driving

An RGB-D Camera Based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid被引量：6: 《IEEE/CAA Journal of Automatica Sinica》2021年第8期1389-1400,共12页He Zhang Lingqiu Jin Cang Ye; supported by the NIBIB and the NEI of the National Institutes of Health(R01EB018117)。; There are about 253 million people with visual impairment worldwide.Many of them use a white cane and/or a guide dog as the mobility tool for daily travel.Despite decades of efforts,electronic navigation aid that can ...; 关键词：Assistive navigation pose estimation robotic navigation aid(RNA) simultaneous localization and mapping visual-inertial odometry visual positioning system(VPS)

A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor: 《International Journal of Automation and computing》2021年第4期667-679,共13页Wen-Kuan Li Hao-Yuan Cai Sheng-Lin Zhao Ya-Qian Liu Chun-Xiu Liu; by National Natural Science Foundation of China(Nos.61774157 and 81771388);Beijing National Natural Science Foundation of China(No.4182075);National Key Research and Development.Plan(Nos.2020YFC2004501,2020YFC2004503 and 2017YFF0107704).; Visual simultaneous localization and mapping(VSLAM) are essential technologies to realize the autonomous movement of vehicles. Visual-inertial odometry(VIO) is often used as the front-end of VSLAM because of its rich ...; 关键词：High efficiency visual-inertial odometry(VIO) non-linear optimization points and lines sliding window

ODOMETRY