Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration
文献类型：期刊论文
| 作者 | Liu, Jinxu ; Gao, Wei1; Xie, Chuyun; Hu, Zhanyi
|
| 刊名 | ROBOTICS AND AUTONOMOUS SYSTEMS
 |
| 出版日期 | 2024-06-01 |
| 卷号 | 176页码:14 |
| 关键词 | Visual-inertial odometry Wheel encoder IMU-odometer pre-integration Robust initialization Online extrinsic calibration Observability analysis |
| ISSN号 | 0921-8890 |
| DOI | 10.1016/j.robot.2024.104686 |
| 通讯作者 | Gao, Wei(wgao@nlpr.ia.ac.cn) |
| 英文摘要 | Combining camera, IMU and wheel encoder is a wise choice for car positioning because of the low cost and complementarity of the sensors. We propose a novel extended visual -inertial odometry algorithm based on sliding window tightly fusing data from the above three sensors. Firstly we propose an IMU-odometer pre -integration approach utilizing complete IMU measurements and wheel encoder readings, to make scale estimation more accurate in subsequent 4 -degrees of freedom (DoF) optimization. Secondly we develop an original initialization module where encoder readings are fully utilized to refine gravity direction and provide an initial value for camera pose in real scale. Thirdly, we design a computationally efficient online extrinsic calibration method by fixing the linearization point for the rotational component of IMU-odometer extrinsic parameters, which is deployed depending on the convergence of accelerometer bias. Fourthly, we give an observability analysis of our optimization based approach under more general assumption. Extensive experiments are performed on two sets of data in various scenes, bringing the state-of-the-art visual odometry and visual -inertial odometry algorithms into comparison. Experimental results prove the overwhelmingly better performance of our proposed approach on the above two sets of data, as well as the robustness of our initialization module and the improvement resulted from online extrinsic calibration. |
| WOS关键词 | KALMAN FILTER ; VISION ; FUSION ; VERSATILE |
| 资助项目 | National Key R&D Program of China[2022YFB3303103] ; Natural Science Foundation of China[62172414] |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001219570600001 |
| 出版者 | ELSEVIER |
| 资助机构 | National Key R&D Program of China ; Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58401]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Gao, Wei |
| 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 |
| 推荐引用方式 GB/T 7714 | Liu, Jinxu,Gao, Wei,Xie, Chuyun,et al. Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2024,176:14. |
| APA | Liu, Jinxu,Gao, Wei,Xie, Chuyun,&Hu, Zhanyi.(2024).Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration.ROBOTICS AND AUTONOMOUS SYSTEMS,176,14. |
| MLA | Liu, Jinxu,et al."Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration".ROBOTICS AND AUTONOMOUS SYSTEMS 176(2024):14. |
入库方式： OAI收割
来源：自动化研究所
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