Knowledge Commons of Institute of Automation,CAS
A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor | |
Wen-Kuan Li1,2; Hao-Yuan Cai1; Sheng-Lin Zhao1,2; Ya-Qian Liu1,2; Chun-Xiu Liu1 | |
发表期刊 | International Journal of Automation and Computing
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ISSN | 1476-8186 |
2021 | |
卷号 | 18期号:4页码:667-669 |
摘要 | Visual simultaneous localization and mapping (VSLAM) are essential technologies to realize the autonomous movement of vehicles. Visual-inertial odometry (VIO) is often used as the front-end of VSLAM because of its rich information, lightweight, and robustness. This article proposes the FPL-VIO, an optimization-based fast vision-inertial odometer with points and lines. Traditional VIO mostly uses points as landmarks; meanwhile, most of the geometrical structure information is ignored. Therefore, the accuracy will be jeopardized under motion blur and texture-less area. Some researchers improve accuracy by adding lines as landmarks in the system. However, almost all of them use line segment detector (LSD) and line band descriptor (LBD) in line processing, which is very time-con-suming. This article first proposes a fast line feature description and matching method based on the midpoint and compares the three line detection algorithms of LSD, fast line detector (FLD), and edge drawing lines (EDLines). Then, the measurement model of the line is introduced in detail. Finally, FPL-VIO is proposed by adding the above method to monocular visual-inertial state estimator (VINS-Mono), an optimization-based fast vision-inertial odometer with lines described by midpoint and points. Compared with VIO using points and lines (PL-VIO), the line processing efficiency of FPL-VIO is increased by 3−4 times while ensuring the same accuracy. |
关键词 | High efficiency visual-inertial odometry (VIO) non-linear optimization points and lines sliding window |
DOI | 10.1007/s11633-021-1303-2 |
七大方向——子方向分类 | 其他 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/45072 |
专题 | 学术期刊_Machine Intelligence Research |
作者单位 | 1.State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China 2.University of Chinese Academy of Sciences, Beijing 100190, China |
推荐引用方式 GB/T 7714 | Wen-Kuan Li,Hao-Yuan Cai,Sheng-Lin Zhao,et al. A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor[J]. International Journal of Automation and Computing,2021,18(4):667-669. |
APA | Wen-Kuan Li,Hao-Yuan Cai,Sheng-Lin Zhao,Ya-Qian Liu,&Chun-Xiu Liu.(2021).A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor.International Journal of Automation and Computing,18(4),667-669. |
MLA | Wen-Kuan Li,et al."A Fast Vision-inertial Odometer Based on Line Midpoint Descriptor".International Journal of Automation and Computing 18.4(2021):667-669. |
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IJAC-2020-12-345.pdf(10350KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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