VIO-DualProNet: Visual-Inertial Odometry with Learning Based Process Noise Covariance

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a fixed noise covariance for the inertial uncertainty. However, accurately determining in real-time the noise variance of the inertial sensors presents a significant challenge as the uncertainty changes throughout the operation leading to suboptimal performance and reduced accuracy. To circumvent this, we propose VIO-DualProNet, a novel approach that utilizes deep learning methods to dynamically estimate the inertial noise uncertainty in real-time. By designing and training a deep neural network to predict inertial noise uncertainty using only inertial sensor measurements, and integrating it into the VINS-Mono algorithm, we demonstrate a substantial improvement in accuracy and robustness, enhancing VIO performance and potentially benefiting other VIO-based systems for precise localization and mapping across diverse conditions.Comment: 10 pages, 15 figures, bib fil

Ultrafast Laser Nanostructured ITO Acts as Liquid Crystal Alignment Layer and Higher Transparency Electrode

Electrodes with higher transparency that can also align liquid crystals (LCs) are of high importance for improved costs and energy consumption of LC displays. Here we demonstrate for the first time alignment of liquid crystals on femtosecond laser nanostructured indium tin oxide (ITO) coated glass exhibiting also higher transparency due to the less interface reflections. The nano paterns were created by fs laser directlly on ITO films without any additional spin coating materials or lithography procces. Nine regions of laser-induced nanostructures were fabricated with different alignment orientations and various pulse energy levels on top of the ITO. The device interfacial anchoring energy was found to be comparable to the anchoring energy of nematic LC on photosensitive polymers. The device exhibits contrast of 30:1 and relaxation time of 330ms expected for thick LC devices. The measured transparency of the LC device with two ITO nanograting substrates is 10% higher than the uniform ITO film based LC devices. The alignment methodology presented here paves the way for improved LC displays and new structured LC photonic devices