no code implementations • 22 Jun 2023 • Bowen Yi, Chi Jin, Lei Wang, Guodong Shi, Viorela Ila, Ian R. Manchester
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case only using information from a single monocular camera and an inertial measurement unit.
2 code implementations • 28 Jul 2020 • Jun Zhang, Mina Henein, Robert Mahony, Viorela Ila
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task.
1 code implementation • 22 May 2020 • Jun Zhang, Mina Henein, Robert Mahony, Viorela Ila
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments.
Robotics
1 code implementation • 20 Feb 2020 • Mina Henein, Jun Zhang, Robert Mahony, Viorela Ila
In this paper, we propose a new feature-based, model-free, object-aware dynamic SLAM algorithm that exploits semantic segmentation to allow estimation of motion of rigid objects in a scene without the need to estimate the object poses or have any prior knowledge of their 3D models.
Robotics
no code implementations • 16 Apr 2018 • Ziang Cheng, ShaoDi You, Viorela Ila, Hongdong Li
In experiments, we validate our ap- proach upon synthetic and real hazy images, where our method showed superior performance over state-of-the-art approaches, suggesting semantic information facilitates the haze removal task.