StructVIO: Visual-Inertial Odometry With Structural Regularity of Man-Made Environments

In this paper, we propose a novel visual-inertial odometry (VIO) approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a world that contains multiple local Manhatta...

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Published inIEEE transactions on robotics Vol. 35; no. 4; pp. 999 - 1013
Main Authors Zou, Danping, Wu, Yuanxin, Pei, Ling, Ling, Haibin, Yu, Wenxian
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Atlanta world
Benchmark testing
Cameras
Feature extraction
inertial navigation
Odometers
Regularity
Simultaneous localization and mapping
structural lines
visual simultaneous localization and mapping (SLAM)
visual-inertial odometry (VIO)
Visualization
Atlanta Georgia
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Abstract In this paper, we propose a novel visual-inertial odometry (VIO) approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a world that contains multiple local Manhattan worlds with different heading directions. Each local Manhattan world is detected on the fly, and their headings are gradually refined by the state estimator when new observations are received. With full exploration of structural lines that aligned with each local Manhattan worlds, our VIO method becomes more accurate and robust, as well as more flexible to different kinds of complex man-made environments. Through benchmark tests and real-world tests, the results show that the proposed approach outperforms existing visual-inertial systems in large-scale man-made environments.
AbstractList In this paper, we propose a novel visual-inertial odometry (VIO) approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a world that contains multiple local Manhattan worlds with different heading directions. Each local Manhattan world is detected on the fly, and their headings are gradually refined by the state estimator when new observations are received. With full exploration of structural lines that aligned with each local Manhattan worlds, our VIO method becomes more accurate and robust, as well as more flexible to different kinds of complex man-made environments. Through benchmark tests and real-world tests, the results show that the proposed approach outperforms existing visual-inertial systems in large-scale man-made environments.
Author Ling, Haibin
Zou, Danping
Pei, Ling
Wu, Yuanxin
Yu, Wenxian
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Snippet In this paper, we propose a novel visual-inertial odometry (VIO) approach that adopts structural regularity in man-made environments. Instead of using...
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SubjectTerms Atlanta world
Benchmark testing
Cameras
Feature extraction
inertial navigation
Odometers
Regularity
Simultaneous localization and mapping
structural lines
visual simultaneous localization and mapping (SLAM)
visual-inertial odometry (VIO)
Visualization
Title StructVIO: Visual-Inertial Odometry With Structural Regularity of Man-Made Environments
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Volume 35
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