A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization

doi:10.1109/CVPR52729.2023.00078

	A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization
	He, Yijia 1; Xu, Bo 2; Ouyang, Zhanpeng3 ; Li, Hongdong 4
	2023-06-17
会议录名称	2023 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR)
ISSN	1063-6919
发表状态	已发表
DOI	10.1109/CVPR52729.2023.00078
摘要	We propose a novel visual-inertial odometry (VIO) initialization method, which decouples rotation and translation estimation, and achieves higher efficiency and better robustness. Existing loosely-coupled VIO-initialization methods suffer from poor stability of visual structure-frommotion (SfM), whereas those tightly-coupled methods often ignore the gyroscope bias in the closed-form solution, resulting in limited accuracy. Moreover, the aforementioned two classes of methods are computationally expensive, because 3D point clouds need to be reconstructed simultaneously. In contrast, our new method fully combines inertial and visual measurements for both rotational and translational initialization. First, a rotation-only solution is designed for gyroscope bias estimation, which tightly couples the gyroscope and camera observations. Second, the initial velocity and gravity vector are solved with linear translation constraints in a globally optimal fashion and without reconstructing 3D point clouds. Extensive experiments have demonstrated that our method is 8 similar to 72 times faster (w.r.t. a 10-frame set) than the state-of-the-art methods, and also presents significantly higher robustness and accuracy.
关键词	3D from multi-view and sensors
会议名称	IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
出版地	10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA
会议地点	Vancouver, BC, Canada
会议日期	17-24 June 2023
URL	查看原文
收录类别	CPCI-S
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Interdisciplinary Applications ; Computer Science, Software Engineering ; Computer Science, Theory & Methods
WOS记录号	WOS:001058542601005
出版者	IEEE COMPUTER SOC
来源库	IEEE
引用统计	正在获取...
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/333414
专题	信息科学与技术学院_硕士生
通讯作者	He, Yijia
作者单位	1.Chinese Acad Sci, Beijing, Peoples R China 2.Wuhan Univ, Wuhan, Peoples R China 3.ShanghaiTech Univ, Shanghai, Peoples R China 4.Australian Natl Univ, Canberra, ACT, Australia
推荐引用方式 GB/T 7714	He, Yijia,Xu, Bo,Ouyang, Zhanpeng,et al. A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization[C]. 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1264 USA:IEEE COMPUTER SOC,2023.