A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching
文献类型：期刊论文
| 作者 | Wei, Hao1,2 ; Tang, Fulin2; Xu, Zewen1,2; Zhang, Chaofan3; Wu, Yihong1,2
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2021-10-01 |
| 卷号 | 6期号:4页码:8681-8688 |
| 关键词 | Simultaneous localization and mapping Feature extraction Three-dimensional displays Tracking Jacobian matrices Motion segmentation Cameras Visual-Inertial SLAM SLAM |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2021.3113987 |
| 通讯作者 | Zhang, Chaofan(zcfan@aiofm.ac.cn) ; Wu, Yihong(yihong.wu@ia.ac.cn) |
| 英文摘要 | Weak texture and motion blur are always challenging problems for visual-inertial odometry (VIO) systems. To improve accuracy of VIO systems in the challenging scenes, we propose a point-line-based VIO system with novel feature hybrids and with novel predicting-matching for long line track. Point-line features with shorter tracks are categorized into "MSCKF" features and with longer tracks into "SLAM" features. Especially, "SLAM" lines are added into the state vector to improve accuracy of the proposed system. Besides, to ensure the reliability and stability of detection and tracking of line features, we also propose a new "Predicting-Matching" line segment tracking method to increase the track lengths of line segments. Experimental results show that the proposed method outperforms the state-of-the-art methods of VINS-Mono [1], PL-VINS [2] and OpenVINS [3]) on both a public dataset and a collected dataset in terms of accuracy. The collected dataset is full of extremely weak textures and motion blurs. On this dataset, the proposed method also obtains better accuracy than ORB-SLAM3 [4]. |
| WOS关键词 | ROBUST |
| 资助项目 | National Natural Science Foundation of China[61836015] ; National Natural Science Foundation of China[62002359] ; Beijing Advanced Discipline Fund[115200S001] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000704109700008 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Beijing Advanced Discipline Fund |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45753]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 通讯作者 | Zhang, Chaofan; Wu, Yihong |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100864, Peoples R China 3.Chinese Acad Sci, Hefei Inst Phys Sci, Anhui Inst Opt & Fine Mech, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wei, Hao,Tang, Fulin,Xu, Zewen,et al. A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(4):8681-8688. |
| APA | Wei, Hao,Tang, Fulin,Xu, Zewen,Zhang, Chaofan,&Wu, Yihong.(2021).A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching.IEEE ROBOTICS AND AUTOMATION LETTERS,6(4),8681-8688. |
| MLA | Wei, Hao,et al."A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching".IEEE ROBOTICS AND AUTOMATION LETTERS 6.4(2021):8681-8688. |
入库方式： OAI收割
来源：自动化研究所
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