A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor
文献类型：期刊论文
| 作者 | Wen-Kuan Li1,2 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:4页码:667-669 |
| 关键词 | High efficiency visual-inertial odometry (VIO) non-linear optimization points and lines sliding window |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-021-1303-2 |
| 英文摘要 | Visual simultaneous localization and mapping (VSLAM) are essential technologies to realize the autonomous movement of vehicles. Visual-inertial odometry (VIO) is often used as the front-end of VSLAM because of its rich information, lightweight, and robustness. This article proposes the FPL-VIO, an optimization-based fast vision-inertial odometer with points and lines. Traditional VIO mostly uses points as landmarks; meanwhile, most of the geometrical structure information is ignored. Therefore, the accuracy will be jeopardized under motion blur and texture-less area. Some researchers improve accuracy by adding lines as landmarks in the system. However, almost all of them use line segment detector (LSD) and line band descriptor (LBD) in line processing, which is very time-con-suming. This article first proposes a fast line feature description and matching method based on the midpoint and compares the three line detection algorithms of LSD, fast line detector (FLD), and edge drawing lines (EDLines). Then, the measurement model of the line is introduced in detail. Finally, FPL-VIO is proposed by adding the above method to monocular visual-inertial state estimator (VINS-Mono), an optimization-based fast vision-inertial odometer with lines described by midpoint and points. Compared with VIO using points and lines (PL-VIO), the line processing efficiency of FPL-VIO is increased by 3−4 times while ensuring the same accuracy. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45072]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100190, China 2.State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China |
| 推荐引用方式 GB/T 7714 | Wen-Kuan Li. A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor[J]. International Journal of Automation and Computing,2021,18(4):667-669. |
| APA | Wen-Kuan Li.(2021).A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor.International Journal of Automation and Computing,18(4),667-669. |
| MLA | Wen-Kuan Li."A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor".International Journal of Automation and Computing 18.4(2021):667-669. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。