Visual–Inertial Odometry of Structured and Unstructured Lines Based on Vanishing Points in Indoor Environments
| Autor: | Xiaojing He, Baoquan Li, Shulei Qiu, Kexin Liu |
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| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | Applied Sciences, Vol 14, Iss 5, p 1990 (2024) |
| Druh dokumentu: | article |
| ISSN: | 14051990 2076-3417 |
| DOI: | 10.3390/app14051990 |
| Popis: | In conventional point-line visual–inertial odometry systems in indoor environments, consideration of spatial position recovery and line feature classification can improve localization accuracy. In this paper, a monocular visual–inertial odometry based on structured and unstructured line features of vanishing points is proposed. First, the degeneracy phenomenon caused by a special geometric relationship between epipoles and line features is analyzed in the process of triangulation, and a degeneracy detection strategy is designed to determine the location of the epipoles. Then, considering that the vanishing point and the epipole coincide at infinity, the vanishing point feature is introduced to solve the degeneracy and direction vector optimization problem of line features. Finally, threshold constraints are used to categorize straight lines into structural and non-structural features under the Manhattan world assumption, and the vanishing point measurement model is added to the sliding window for joint optimization. Comparative tests on the EuRoC and TUM-VI public datasets validated the effectiveness of the proposed method. |
| Databáze: | Directory of Open Access Journals |
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