Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements

	Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements
	Liu, Jinxu1,2 ; Gao, Wei1,2 ; Hu, Zhanyi1,2
	2021-05-31
会议名称	2021 IEEE International Conference on Robotics and Automation (ICRA 2021)
会议日期	2021年5月31日至6月4日
会议地点	中国西安
出版者	IEEE
摘要	Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this kind in the literature to our knowledge. More specififically, reprojection error, IMU pre-integration error and raw GNSS measurement error are jointly minimized within a sliding window, in which the asynchronism between images and raw GNSS measurements is accounted for. In addition, issues such as marginalization, noisy measurements removal, as well as tackling vulnerable situations are also addressed. Experimental results on public dataset in complex urban scenes show that our proposed approach outperforms state-of-the-art visual-inertial SLAM, GNSS single point positioning, as well as a loose coupling approach, including scenes mainly containing low-rise buildings and those containing urban canyons.
收录类别	EI
七大方向——子方向分类	三维视觉
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/44969
专题	多模态人工智能系统全国重点实验室_机器人视觉
通讯作者	Gao, Wei
作者单位	1.National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences
第一作者单位	模式识别国家重点实验室
通讯作者单位	模式识别国家重点实验室
推荐引用方式 GB/T 7714	Liu, Jinxu,Gao, Wei,Hu, Zhanyi. Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements[C]:IEEE,2021.

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