Abstract | ||
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Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and requiring less model-specific implementations. However, current deep fusion approaches often assume that sensors are synchronised, which is not always practical, especially for low-cost hardware. To address this limitation, in this work, we propose AFT-VO, a novel transformer-based sensor fusion architecture to estimate VO from multiple sensors. Our framework combines predictions from asynchronous multi-view cameras and accounts for the time discrepancies of measurements coming from different sources. Our approach first employs a Mixture Density Network (MDN) to estimate the probability distributions of the 6-DoF poses for every camera in the system. Then a novel transformer-based fusion module, AFT-VO, is introduced, which combines these asynchronous pose estimations, along with their confidences. More specifically, we introduce Discretiser and Source Encoding techniques which enable the fusion of multi-source asynchronous signals. We evaluate our approach on the popular nuScenes and KITTI datasets. Our experiments demonstrate that multi-view fusion for VO estimation provides robust and accurate trajectories, outperforming the state of the art in both challenging weather and lighting conditions. |
Year | DOI | Venue |
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2022 | 10.1109/IROS47612.2022.9981835 | IEEE/RJS International Conference on Intelligent RObots and Systems (IROS) |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 3 |
Name | Order | Citations | PageRank |
---|---|---|---|
Nimet Kaygusuz | 1 | 0 | 0.34 |
Oscar Mendez | 2 | 0 | 0.68 |
Richard Bowden | 3 | 1840 | 118.50 |