Visual-Inertial-Wheel Odometry with Slip Compensation and Dynamic Feature Elimination
Bibliographic record
Abstract
Inertial navigation systems augmented with visual and wheel odometry measurements have emerged as a robust solution to address uncertainties in robot localization and odometry. This paper introduces a novel data-driven approach to compensate for wheel slippage in visual-inertial-wheel odometry (VIWO). The proposed method leverages Gaussian process regression (GPR) with deep kernel design and long short-term memory (LSTM) layers to model and mitigate slippage-induced errors effectively. Furthermore, a feature confidence estimator is incorporated to address the impact of dynamic feature points on visual measurements, ensuring reliable data integration. By refining these measurements, the system utilizes a multi-state constraint Kalman filter (MSCKF) to achieve accurate state estimation and enhanced navigation performance. The effectiveness of the proposed approach is demonstrated through extensive simulations and experimental validations using real-world datasets. The results highlight the ability of the method to handle challenging terrains and dynamic environments by compensating for wheel slippage and mitigating the influence of dynamic objects. Compared to conventional VIWO systems, the integration of GPR and LSTM layers significantly improves localization accuracy and robustness. This work paves the way for deploying VIWO systems in diverse and unpredictable environments, contributing to advancements in autonomous navigation and multi-sensor fusion technologies.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".