Matches in SemOpenAlex for { <https://semopenalex.org/work/W4383108358> ?p ?o ?g. }
Showing items 1 to 89 of
89
with 100 items per page.
- W4383108358 abstract "This study presents a framework, L-C*, for resilient and lightweight direct visual localization, employing a loosely coupled fusion of visual and inertial data. Unlike indirect methods, direct visual localization facilitates accurate pose estimation on general color three-dimensional maps that are not tailored for visual localization. However, it suffers from temporal localization failures and high computational costs for real-time applications. For long-term and real-time visual localization, we developed an L-C* that incorporates direct visual localization C* in a visual-inertial loose coupling. By capturing ego-motion via visual-inertial odometry to interpolate global pose estimates, the framework allows for a significant reduction in the frequency of demanding global localization, thereby facilitating lightweight but reliable visual localization. In addition, forming a closed loop that feeds the latest pose estimate to the visual localization component as an initial guess for the next pose inference renders the system highly robust. A quantitative evaluation of a simulation dataset demonstrated the accuracy and efficiency of the proposed framework. Experiments using smartphone sensors also demonstrated the robustness and resiliency of L-C* in real-world situations." @default.
- W4383108358 created "2023-07-05" @default.
- W4383108358 creator A5024900204 @default.
- W4383108358 creator A5038928126 @default.
- W4383108358 creator A5039972852 @default.
- W4383108358 creator A5078435846 @default.
- W4383108358 date "2023-05-29" @default.
- W4383108358 modified "2023-10-17" @default.
- W4383108358 title "L-C*: Visual-inertial Loose Coupling for Resilient and Lightweight Direct Visual Localization" @default.
- W4383108358 cites W2017693484 @default.
- W4383108358 cites W2144221002 @default.
- W4383108358 cites W2154459632 @default.
- W4383108358 cites W2419396125 @default.
- W4383108358 cites W2482726005 @default.
- W4383108358 cites W2567328166 @default.
- W4383108358 cites W2580172780 @default.
- W4383108358 cites W2745859992 @default.
- W4383108358 cites W2806377715 @default.
- W4383108358 cites W3007908608 @default.
- W4383108358 cites W3035397262 @default.
- W4383108358 cites W3040354418 @default.
- W4383108358 cites W3091598621 @default.
- W4383108358 cites W3091667825 @default.
- W4383108358 cites W3092218351 @default.
- W4383108358 cites W3130129454 @default.
- W4383108358 cites W3165610079 @default.
- W4383108358 cites W3166581875 @default.
- W4383108358 cites W4205544116 @default.
- W4383108358 cites W4221150082 @default.
- W4383108358 cites W4312637963 @default.
- W4383108358 doi "https://doi.org/10.1109/icra48891.2023.10161443" @default.
- W4383108358 hasPublicationYear "2023" @default.
- W4383108358 type Work @default.
- W4383108358 citedByCount "0" @default.
- W4383108358 crossrefType "proceedings-article" @default.
- W4383108358 hasAuthorship W4383108358A5024900204 @default.
- W4383108358 hasAuthorship W4383108358A5038928126 @default.
- W4383108358 hasAuthorship W4383108358A5039972852 @default.
- W4383108358 hasAuthorship W4383108358A5078435846 @default.
- W4383108358 hasConcept C104317684 @default.
- W4383108358 hasConcept C121332964 @default.
- W4383108358 hasConcept C154945302 @default.
- W4383108358 hasConcept C173386949 @default.
- W4383108358 hasConcept C185592680 @default.
- W4383108358 hasConcept C19966478 @default.
- W4383108358 hasConcept C31972630 @default.
- W4383108358 hasConcept C36464697 @default.
- W4383108358 hasConcept C41008148 @default.
- W4383108358 hasConcept C49441653 @default.
- W4383108358 hasConcept C52102323 @default.
- W4383108358 hasConcept C55493867 @default.
- W4383108358 hasConcept C62520636 @default.
- W4383108358 hasConcept C63479239 @default.
- W4383108358 hasConcept C79061980 @default.
- W4383108358 hasConcept C86369673 @default.
- W4383108358 hasConcept C90509273 @default.
- W4383108358 hasConceptScore W4383108358C104317684 @default.
- W4383108358 hasConceptScore W4383108358C121332964 @default.
- W4383108358 hasConceptScore W4383108358C154945302 @default.
- W4383108358 hasConceptScore W4383108358C173386949 @default.
- W4383108358 hasConceptScore W4383108358C185592680 @default.
- W4383108358 hasConceptScore W4383108358C19966478 @default.
- W4383108358 hasConceptScore W4383108358C31972630 @default.
- W4383108358 hasConceptScore W4383108358C36464697 @default.
- W4383108358 hasConceptScore W4383108358C41008148 @default.
- W4383108358 hasConceptScore W4383108358C49441653 @default.
- W4383108358 hasConceptScore W4383108358C52102323 @default.
- W4383108358 hasConceptScore W4383108358C55493867 @default.
- W4383108358 hasConceptScore W4383108358C62520636 @default.
- W4383108358 hasConceptScore W4383108358C63479239 @default.
- W4383108358 hasConceptScore W4383108358C79061980 @default.
- W4383108358 hasConceptScore W4383108358C86369673 @default.
- W4383108358 hasConceptScore W4383108358C90509273 @default.
- W4383108358 hasLocation W43831083581 @default.
- W4383108358 hasOpenAccess W4383108358 @default.
- W4383108358 hasPrimaryLocation W43831083581 @default.
- W4383108358 hasRelatedWork W197633916 @default.
- W4383108358 hasRelatedWork W2060890775 @default.
- W4383108358 hasRelatedWork W2562524049 @default.
- W4383108358 hasRelatedWork W2586572282 @default.
- W4383108358 hasRelatedWork W2810954168 @default.
- W4383108358 hasRelatedWork W2889788701 @default.
- W4383108358 hasRelatedWork W2980357211 @default.
- W4383108358 hasRelatedWork W3006502707 @default.
- W4383108358 hasRelatedWork W3121134787 @default.
- W4383108358 hasRelatedWork W4289543137 @default.
- W4383108358 isParatext "false" @default.
- W4383108358 isRetracted "false" @default.
- W4383108358 workType "article" @default.