Event-based optical flow from a ground-facing camera directly estimates planar vehicle velocity, improving lateral RMSE by 38.3% over Ultimate SLAM on a 1:10 scale car.
CIOT: Constraint- Enhanced Inertial-Odometric Tracking for Articulated Dump Trucks in GNSS-Denied Mining Environments,
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Planar Velocity Estimation for Fast-Moving Mobile Robots Using Event-Based Optical Flow
Event-based optical flow from a ground-facing camera directly estimates planar vehicle velocity, improving lateral RMSE by 38.3% over Ultimate SLAM on a 1:10 scale car.