ShanghaiTech University Knowledge Management System
A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization | |
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 | |
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. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 |
修改评论
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。