xVIO
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.
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}
}