@article{Burri2016IJRR, title = {The EuRoC micro aerial vehicle datasets}, author = {Burri, Michael and Nikolic, Janosch and Gohl, Pascal and Schneider, Thomas and Rehder, Joern and Omari, Sammy and Achtelik, Markus W and Siegwart, Roland}, year = 2016, journal = {The International Journal of Robotics Research}, publisher = {SAGE Publications Sage UK: London, England}, volume = 35, number = 10, pages = {1157--1163} } @misc{ceres-solver, title = {Ceres Solver}, author = {Sameer Agarwal and Keir Mierle and Others}, howpublished = {\url{http://ceres-solver.org}}, url = {http://ceres-solver.org} } @inproceedings{Davidson2009ENC, title = {Improved vehicle positioning in urban environment through integration of GPS and low-cost inertial sensors}, author = {Davidson, Pavel and Hautam{\"a}ki, Jani and Collin, Jussi and Takala, Jarmo}, year = 2009, booktitle = {Proceedings of the European Navigation Conference (ENC), Naples, Italy}, pages = {3--6}, url = {http://www.tkt.cs.tut.fi/research/nappo_files/1_C2.pdf} } @inproceedings{Delmerico2018ICRA, title = {A benchmark comparison of monocular visual-inertial odometry algorithms for flying robots}, author = {Delmerico, Jeffrey and Scaramuzza, Davide}, year = 2018, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, pages = {2502--2509}, url = {http://rpg.ifi.uzh.ch/docs/ICRA18_Delmerico.pdf}, organization = {IEEE} } @inproceedings{Delmerico2019ICRA, title = {Are we ready for autonomous drone racing? the UZH-FPV drone racing dataset}, author = {Delmerico, Jeffrey and Cieslewski, Titus and Rebecq, Henri and Faessler, Matthias and Scaramuzza, Davide}, year = 2019, booktitle = {2019 International Conference on Robotics and Automation (ICRA)}, pages = {6713--6719}, url = {http://rpg.ifi.uzh.ch/docs/ICRA19_Delmerico.pdf}, organization = {IEEE} } @inproceedings{Dong2012IROS, title = {Estimator initialization in vision-aided inertial navigation with unknown camera-IMU calibration}, author = {Dong-Si, Tue-Cuong and Mourikis, Anastasios I}, year = 2012, booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages = {1064--1071}, organization = {IEEE} } @article{Eckenhoff2019IJRR, title = {Closed-form preintegration methods for graph-based visual-inertial navigation}, author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2019, journal = {International Journal of Robotics Research}, volume = 38, number = 5, doi = {10.1177/0278364919835021}, url = {https://doi.org/10.1177/0278364919835021} } @inproceedings{Furgale2013IROS, title = {Unified temporal and spatial calibration for multi-sensor systems}, author = {Furgale, Paul and Rehder, Joern and Siegwart, Roland}, year = 2013, booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages = {1280--1286}, organization = {IEEE} } @article{Huang2010IJRR, title = {Observability-based rules for designing consistent EKF SLAM estimators}, author = {Huang, Guoquan P and Mourikis, Anastasios I and Roumeliotis, Stergios I}, year = 2010, journal = {The International Journal of Robotics Research}, publisher = {SAGE Publications Sage UK: London, England}, volume = 29, number = 5, pages = {502--528}, url = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.228.5851&rep=rep1&type=pdf} } @article{Jeon2021RAL, title = {Run your visual-inertial odometry on NVIDIA Jetson: Benchmark tests on a micro aerial vehicle}, author = {Jeon, Jinwoo and Jung, Sungwook and Lee, Eungchang and Choi, Duckyu and Myung, Hyun}, year = 2021, journal = {IEEE Robotics and Automation Letters}, publisher = {IEEE}, volume = 6, number = 3, pages = {5332--5339} } @article{Jeong2019IJRR, title = {Complex urban dataset with multi-level sensors from highly diverse urban environments}, author = {Jeong, Jinyong and Cho, Younggun and Shin, Young-Sik and Roh, Hyunchul and Kim, Ayoung}, year = 2019, journal = {The International Journal of Robotics Research}, publisher = {SAGE Publications Sage UK: London, England}, volume = 38, number = 6, pages = {642--657} } @book{Kay1993, title = {Fundamentals of statistical signal processing}, author = {Kay, Steven M}, year = 1993, publisher = {Prentice Hall PTR}, url = {http://users.isr.ist.utl.pt/~pjcro/temp/Fundamentals\%20Of\%20Statistical\%20Signal\%20Processing\%2D\%2DEstimation\%20Theory-Kay.pdf} } @inproceedings{Lee2020IROS, title = {Visual-inertial-wheel odometry with online calibration}, author = {Lee, Woosik and Eckenhoff, Kevin and Yang, Yulin and Geneva, Patrick and Huang, Guoquan}, year = 2020, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {4559--4566}, url = {http://udel.edu/~ghuang/papers/tr_wheel-vio.pdf}, organization = {IEEE} } @article{Li2013IJRR, title = {High-precision, consistent EKF-based visual-inertial odometry}, author = {Li, Mingyang and Mourikis, Anastasios I}, year = 2013, journal = {The International Journal of Robotics Research}, publisher = {SAGE Publications Sage UK: London, England}, volume = 32, number = 6, pages = {690--711} } @phdthesis{Li2014THESIS, title = {Visual-inertial odometry on resource-constrained systems}, author = {Li, Mingyang}, year = 2014, url = {https://escholarship.org/uc/item/4nn0j264}, school = {UC Riverside} } @book{Maybeck1982STOC, title = {Stochastic models, estimation, and control}, author = {Maybeck, Peter S}, year = 1982, publisher = {Academic press}, volume = 3, url = {https://books.google.com/books?id=L_YVMUJKNQUC} } @inproceedings{Mourikis2007ICRA, title = {A multi-state constraint Kalman filter for vision-aided inertial navigation}, author = {Mourikis, Anastasios I and Roumeliotis, Stergios I}, year = 2007, booktitle = {Proceedings 2007 IEEE International Conference on Robotics and Automation}, pages = {3565--3572}, url = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.437.1085&rep=rep1&type=pdf}, organization = {IEEE} } @article{Mueggler2018TRO, title = {Continuous-Time Visual-Inertial Odometry for Event Cameras}, author = {E. Mueggler and G. Gallego and H. Rebecq and D. Scaramuzza}, year = 2018, journal = {IEEE Transactions on Robotics}, pages = {1--16}, url = {http://rpg.ifi.uzh.ch/docs/TRO18_Mueggler.pdf} } @article{Patron2015IJCV, title = {A spline-based trajectory representation for sensor fusion and rolling shutter cameras}, author = {Patron-Perez, Alonso and Lovegrove, Steven and Sibley, Gabe}, year = 2015, journal = {International Journal of Computer Vision}, publisher = {Springer}, volume = 113, number = 3, pages = {208--219} } @article{Qin2018TRO, title = {Vins-mono: A robust and versatile monocular visual-inertial state estimator}, author = {Qin, Tong and Li, Peiliang and Shen, Shaojie}, year = 2018, journal = {IEEE Transactions on Robotics}, publisher = {IEEE}, volume = 34, number = 4, pages = {1004--1020}, url = {https://arxiv.org/pdf/1708.03852.pdf} } @article{Ramanandan2011TITS, title = {Inertial navigation aiding by stationary updates}, author = {Ramanandan, Arvind and Chen, Anning and Farrell, Jay A}, year = 2011, journal = {IEEE Transactions on Intelligent Transportation Systems}, publisher = {IEEE}, volume = 13, number = 1, pages = {235--248} } @inproceedings{Schubert2018IROS, title = {The TUM VI benchmark for evaluating visual-inertial odometry}, author = {Schubert, David and Goll, Thore and Demmel, Nikolaus and Usenko, Vladyslav and St { \"u } ckler, J { \"o } rg and Cremers, Daniel}, year = 2018, booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {1680--1687}, url = {https://arxiv.org/pdf/1804.06120.pdf}, organization = {IEEE} } @article{Trawny2005TR, title = {Indirect Kalman filter for 3D attitude estimation}, author = {Trawny, Nikolas and Roumeliotis, Stergios I}, year = 2005, journal = {University of Minnesota, Dept. of Comp. Sci. \& Eng., Tech. Rep}, volume = 2, pages = 2005, url = {http://mars.cs.umn.edu/tr/reports/Trawny05b.pdf} } @inproceedings{Wagstaff2017IPIN, title = {Improving foot-mounted inertial navigation through real-time motion classification}, author = {Wagstaff, Brandon and Peretroukhin, Valentin and Kelly, Jonathan}, year = 2017, booktitle = {2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)}, pages = {1--8}, url = {https://arxiv.org/pdf/1707.01152.pdf}, organization = {IEEE} } @inproceedings{Wu2017ICRA, title = {Vins on wheels}, author = {Wu, Kejian J and Guo, Chao X and Georgiou, Georgios and Roumeliotis, Stergios I}, year = 2017, booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)}, pages = {5155--5162}, url = {http://mars.cs.umn.edu/papers/KejianWu_VINSonWheels.pdf}, organization = {IEEE} } @inproceedings{Zhang2018IROS, title = {A tutorial on quantitative trajectory evaluation for visual(-inertial) odometry}, author = {Zhang, Zichao and Scaramuzza, Davide}, year = 2018, booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {7244--7251}, url = {http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf}, organization = {IEEE} }