Kevin Eckenhoff
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View article: Towards robust visual-inertial estimation
Towards robust visual-inertial estimation Open
Visual-inertial navigation systems (VINS), which fuse the information from cameras and inertial measurement units (IMUs) to recover an estimate for the motion of a moving sensing platform, have seen an explosion in popularity in recent yea…
View article: MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System Open
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple) avai…
View article: Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection
Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection Open
This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace wh…
View article: Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation.
Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation. Open
In this paper we propose a new continuous preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors). Rather than using discrete sampling of the measurement dynamics a…