PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features
文献类型：期刊论文
| 作者 | He, Yijia1,2 ; Zhao, Ji3; Guo, Yue1,2; He, Wenhao1; Yuan, Kui1
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| 刊名 | SENSORS
 |
| 出版日期 | 2018-04-01 |
| 卷号 | 18期号:4页码:25 |
| 关键词 | sensor fusion visual-inertial odometry tightly-coupled point and line features |
| ISSN号 | 1424-8220 |
| DOI | 10.3390/s18041159 |
| 通讯作者 | He, Yijia(heyijia2013@ia.ac.cn) |
| 英文摘要 | To address the problem of estimating camera trajectory and to build a structural three-dimensional (3D) map based on inertial measurements and visual observations, this paper proposes point-line visual-inertial odometry (PL-VIO), a tightly-coupled monocular visual-inertial odometry system exploiting both point and line features. Compared with point features, lines provide significantly more geometrical structure information on the environment. To obtain both computation simplicity and representational compactness of a 3D spatial line, Plucker coordinates and orthonormal representation for the line are employed. To tightly and efficiently fuse the information from inertial measurement units (IMUs) and visual sensors, we optimize the states by minimizing a cost function which combines the pre-integrated IMU error term together with the point and line re-projection error terms in a sliding window optimization framework. The experiments evaluated on public datasets demonstrate that the PL-VIO method that combines point and line features outperforms several state-of-the-art VIO systems which use point features only. |
| WOS关键词 | SIMULTANEOUS LOCALIZATION ; KALMAN FILTER ; NAVIGATION ; SLAM ; OPTIMIZATION ; MOTION |
| 资助项目 | National Natural Science Foundation of China[61421004] |
| WOS研究方向 | Chemistry ; Electrochemistry ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000435574800231 |
| 出版者 | MDPI |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/21818]  |
| 专题 | 自动化研究所_智能制造技术与系统研究中心_智能机器人团队 |
| 通讯作者 | He, Yijia |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.ReadSense Ltd, Shanghai 200040, Peoples R China |
| 推荐引用方式 GB/T 7714 | He, Yijia,Zhao, Ji,Guo, Yue,et al. PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features[J]. SENSORS,2018,18(4):25. |
| APA | He, Yijia,Zhao, Ji,Guo, Yue,He, Wenhao,&Yuan, Kui.(2018).PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features.SENSORS,18(4),25. |
| MLA | He, Yijia,et al."PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features".SENSORS 18.4(2018):25. |
入库方式： OAI收割
来源：自动化研究所
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