Skip to content

xVIO

Jump to bottom
Jeff Delaune edited this page Oct 20, 2020 · 3 revisions

xVIO is a visual-inertial odometry implementation using a hybrid SLAM-MSCKF tightly-coupled approach. It can additionally process measurement from a laser range finder to render scale observable without excitation. It has been tested both on visible and thermal image.

MISSING VIDEO

References and citations

xVIO is described in the following publications:

@inproceedings{delaune2019iros,
  title={\href{https://ieeexplore.ieee.org/document/8968238}{Thermal-Inertial Odometry for Autonomous Flight Throughout the Night}},
  author={Delaune, J. and Hewitt, R. and Lytle, L. and Sorice, C. and Thakker, R. and Matthies, L.},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  year={2019},
  organization={IEEE/RSJ}
}

@inproceedings{delaune2020,
  title={\href{https://ieeexplore.ieee.org/document/9172289}{Extended Navigation Capabilities for a Future Mars Science Helicopter Concept}},
  author={Delaune, J. and Brockers, R. and Bayard, D.S. and Dor, H. and  Hewitt, R. and Sawoniewicz, J. and Kubiak, G. and Tzanetos, T. and Matthies, L. and Balaram, J.},
  booktitle={IEEE Aerospace Conference},
  year={2020}
}

@techreport{delaune2020b,
author = {Delaune, J. and Bayard, D.S. and Brockers, R.},
institution = {Jet Propulsion Laboratory},
title = {\href{https://arxiv.org/abs/2010.06677}{xVIO: A Range-Visual-Inertial Odometry Framework}},
year = {2020, arXiv:2010.06677}
}
Clone this wiki locally