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

• Published in: IEEE 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
• Language: English
• 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

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...