Covariance Estimation for Pose Graph Optimization in Visual-Inertial Navigation Systems
文献类型：期刊论文
| 作者 | Shi, Pengcheng2,3; Zhu, Zhikai1 ; Sun, Shiying2; Rong, Zheng4; Zhao, Xiaoguang2; Tan, Min2,3
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| 刊名 | IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
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| 出版日期 | 2023-06-01 |
| 卷号 | 8期号:6页码:3657-3667 |
| ISSN号 | 2379-8858 |
| 关键词 | Covariance estimation loop closing pose graph optimization visual-inertial odometry |
| DOI | 10.1109/TIV.2023.3263837 |
| 通讯作者 | Sun, Shiying(sunshiying2013@ia.ac.cn) |
| 英文摘要 | Pose graph optimization helps reduce drift accumulated in pure odometry of visual simultaneous localization and mapping (SLAM) systems by solving a nonlinear least square problem, including both sequential constraints and loop-closing constraints. However, the covariances of all constraints are set to constant matrices or by manual setting. In this paper, we propose a novel approach to approximate covariances of constraints in pose graph optimization to better represent the true uncertainty of the underlying visual-inertial navigation system (VINS) that fuses inertial measurements and visual observations. Specifically, for sequential constraints, we propose to utilize nonlinear factor recovery to optimally extract covariance matrices from the accumulated visual-inertial odometry (VIO). For loop-closing constraints, we propose a dynamic scale estimation method to approximate the scales of the information matrices. To evaluate the effectiveness and robustness of the proposed method, we conduct extensive experiments on public and self-collected datasets in various environments. Results show that our proposed method achieves higher accuracy compared with naively-formulated pose graph optimization adopted by several state-of-the-art visual-inertial navigation systems. |
| WOS关键词 | ROBUST ; LOCALIZATION ; VERSATILE ; ODOMETRY ; FILTER ; SLAM |
| 资助项目 | Independent Research Project of Medical Engineering Laboratory of Chinese PLA General Hospital[2022SYSZZKY12] ; National Natural Science Foundation of China[62203438] ; National Natural Science Foundation of China[62103410] ; Science and Technology Project of Beijing[Z221100000222015] |
| WOS研究方向 | Computer Science ; Engineering ; Transportation |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001033547600014 |
| 资助机构 | Independent Research Project of Medical Engineering Laboratory of Chinese PLA General Hospital ; National Natural Science Foundation of China ; Science and Technology Project of Beijing |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53921]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Sun, Shiying |
| 作者单位 | 1.NIO Inc, Shanghai 201804, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Shi, Pengcheng,Zhu, Zhikai,Sun, Shiying,et al. Covariance Estimation for Pose Graph Optimization in Visual-Inertial Navigation Systems[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2023,8(6):3657-3667. |
| APA | Shi, Pengcheng,Zhu, Zhikai,Sun, Shiying,Rong, Zheng,Zhao, Xiaoguang,&Tan, Min.(2023).Covariance Estimation for Pose Graph Optimization in Visual-Inertial Navigation Systems.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,8(6),3657-3667. |
| MLA | Shi, Pengcheng,et al."Covariance Estimation for Pose Graph Optimization in Visual-Inertial Navigation Systems".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 8.6(2023):3657-3667. |
入库方式： OAI收割
来源：自动化研究所
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