This system employs a multi-sensor fusion approach that is flexible and adapts to changes in the environment by utilizing a switching mechanism based on the trace values ...
Abstract:
The development of a new system called Flexible Lidar-Visual-Inertial Odometry (F-LVINS) offers improved localization accuracy even in challenging environments. This syst...Show MoreMetadata
Abstract:
The development of a new system called Flexible Lidar-Visual-Inertial Odometry (F-LVINS) offers improved localization accuracy even in challenging environments. This system employs a multi-sensor fusion approach that is flexible and adapts to changes in the environment by utilizing a switching mechanism based on the trace values of the Fisher information matrix (FIM). With this mechanism, the F-LVINS system can automatically switch between different modes, such as Lidar-Visual-Inertial Odometry, Lidar Odometry, and Visual-Inertial Odometry, in order to provide the best possible estimate. The system assesses the reliability of each mode based on the FIM’s trace values, which are calculated from the estimation uncertainty obtained from the Lidar and Visual-Inertial Odometry modules. Experimental evaluations demonstrate that the F-LVINS system outperforms other existing methods by around 10 % in open data sequences.
This system employs a multi-sensor fusion approach that is flexible and adapts to changes in the environment by utilizing a switching mechanism based on the trace values ...
Published in: IEEE Access ( Volume: 11)
Funding Agency:
Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan
Xiang-Shi Tang received the M.S. degree from the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan, in 2023. His current research interests include SLAM systems and robotics.
Xiang-Shi Tang received the M.S. degree from the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan, in 2023. His current research interests include SLAM systems and robotics.View more
Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan
Teng-Hu Cheng (Member, IEEE) received the Ph.D. degree from the Department of Mechanical Engineering, University of Florida, Gainesville, FL, USA, in 2015. In 2016, he joined the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan. His research interests include robotics, autonomous systems, networked system control, switched control, event-driven control, and nonlinear control....Show More
Teng-Hu Cheng (Member, IEEE) received the Ph.D. degree from the Department of Mechanical Engineering, University of Florida, Gainesville, FL, USA, in 2015. In 2016, he joined the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan. His research interests include robotics, autonomous systems, networked system control, switched control, event-driven control, and nonlinear control....View more
Contents Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan
Xiang-Shi Tang received the M.S. degree from the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan, in 2023. His current research interests include SLAM systems and robotics.
Xiang-Shi Tang received the M.S. degree from the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan, in 2023. His current research interests include SLAM systems and robotics.View more
Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan
Teng-Hu Cheng (Member, IEEE) received the Ph.D. degree from the Department of Mechanical Engineering, University of Florida, Gainesville, FL, USA, in 2015. In 2016, he joined the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan. His research interests include robotics, autonomous systems, networked system control, switched control, event-driven control, and nonlinear control. He received the O. Hugo Schuck Best Paper Award from the American Automatic Control Council, in 2015.
Teng-Hu Cheng (Member, IEEE) received the Ph.D. degree from the Department of Mechanical Engineering, University of Florida, Gainesville, FL, USA, in 2015. In 2016, he joined the Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan. His research interests include robotics, autonomous systems, networked system control, switched control, event-driven control, and nonlinear control. He received the O. Hugo Schuck Best Paper Award from the American Automatic Control Council, in 2015.View more