Fast and robust visual odometry with a low-cost IMU in dynamic environments
| Autor: | Guoliang Zhang, Haitao Song, Erliang Yao, Hexin Zhang |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Pixel Computer science business.industry Direct method Bundle adjustment 02 engineering and technology Industrial and Manufacturing Engineering Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Inertial measurement unit Convergence (routing) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Robot vision Artificial intelligence Visual odometry business |
| Zdroj: | Industrial Robot: the international journal of robotics research and application. 46:882-894 |
| ISSN: | 0143-991X |
| Popis: | Purpose To realize stable and precise localization in the dynamic environments, the authors propose a fast and robust visual odometry (VO) approach with a low-cost Inertial Measurement Unit (IMU) in this study. Design/methodology/approach The proposed VO incorporates the direct method with the indirect method to track the features and to optimize the camera pose. It initializes the positions of tracked pixels with the IMU information. Besides, the tracked pixels are refined by minimizing the photometric errors. Due to the small convergence radius of the indirect method, the dynamic pixels are rejected. Subsequently, the camera pose is optimized by minimizing the reprojection errors. The frames with little dynamic information are selected to create keyframes. Finally, the local bundle adjustment is performed to refine the poses of the keyframes and the positions of 3-D points. Findings The proposed VO approach is evaluated experimentally in dynamic environments with various motion types, suggesting that the proposed approach achieves more accurate and stable location than the conventional approach. Moreover, the proposed VO approach works well in the environments with the motion blur. Originality/value The proposed approach fuses the indirect method and the direct method with the IMU information, which improves the localization in dynamic environments significantly. |
| Databáze: | OpenAIRE |
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