PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features
He, Yijia1,2; Zhao, Ji3; Guo, Yue1,2; He, Wenhao1; Yuan, Kui1
2018-04-01
发表期刊SENSORS
卷号18期号:4
文章类型Article
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.
关键词Sensor Fusion Visual-inertial Odometry Tightly-coupled Point And Line Features
WOS标题词Science & Technology ; Physical Sciences ; Technology
DOI10.3390/s18041159
关键词[WOS]SIMULTANEOUS LOCALIZATION ; KALMAN FILTER ; NAVIGATION ; SLAM ; OPTIMIZATION ; MOTION
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61421004)
WOS研究方向Chemistry ; Electrochemistry ; Instruments & Instrumentation
WOS类目Chemistry, Analytical ; Electrochemistry ; Instruments & Instrumentation
WOS记录号WOS:000435574800231
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21818
专题智能制造技术与系统研究中心_智能机器人
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
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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).
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).
MLA He, Yijia,et al."PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features".SENSORS 18.4(2018).
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