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A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation
TLDR
In this paper, we present an extended Kalman filter (EKF)-based algorithm for real-time vision-aided inertial navigation that is capable of high-precision pose estimation in large-scale real-world environments. Expand
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Distributed multirobot localization
TLDR
In this paper, we present a new approach to the problem of simultaneously localizing a group of mobile robots capable of sensing one another with minimal communication and processing requirements. Expand
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SOI-KF: Distributed Kalman Filtering With Low-Cost Communications Using the Sign of Innovations
TLDR
In this paper, we derive and analyze distributed state estimators of dynamical stochastic processes, whereby the low communication cost is effected by requiring the transmission of a single bit per observation. Expand
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A Direct Least-Squares (DLS) method for PnP
TLDR
We present a Direct Least-Squares (DLS) method for computing all solutions of the perspective-n-point camera pose determination (PnP) problem in the general case (n ≥ 3). Expand
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Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing
TLDR
We present the vision-aided inertial navigation (VISINAV) algorithm that enables precision planetary landing. Expand
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Consistency Analysis and Improvement of Vision-aided Inertial Navigation
TLDR
In this paper, we study estimator inconsistency in vision-aided inertial navigation systems (VINS) from the standpoint of system's observability. Expand
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Globally optimal pose estimation from line correspondences
TLDR
In this paper, we introduce a novel approach to estimate the camera's pose by directly solving the corresponding least-squares problem algebraically. Expand
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Analysis and improvement of the consistency of extended Kalman filter based SLAM
TLDR
We study the inconsistency of EKF- based SLAM from the perspective of observability. Expand
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Optimal estimation of vanishing points in a Manhattan world
TLDR
We present an analytical method for computing the globally optimal estimates of orthogonal vanishing points in a “Manhattan world” with a calibrated camera. Expand
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