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- Title
Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization.
- Authors
Yi Liu; Zhong Chen; Wenjuan Zheng; Hao Wang; Jianguo Liu
- Abstract
In this paper, we propose a new visual-inertial Simultaneous Localization and Mapping (SLAM) algorithm. With the tightly coupled sensor fusion of a global shutter monocular camera and a low-cost Inertial Measurement Unit (IMU), this algorithm is able to achieve robust and real-time estimates of the sensor poses in unknown environment. To address the real-time visual-inertial fusion problem, we present a parallel framework with a novel IMU initialization method. Our algorithm also benefits from the novel IMU factor, the continuous preintegration method, the vision factor of directional error, the separability trick and the robust initialization criterion which can efficiently output reliable estimates in real-time on modern Central Processing Unit (CPU). Tremendous experiments also validate the proposed algorithm and prove it is comparable to the state-of-art method.
- Subjects
SLAM (Robotics); DATA visualization; MEASUREMENT uncertainty (Statistics); ROBUST control; DATA fusion (Statistics); PROBLEM solving
- Publication
Sensors (14248220), 2017, Vol 17, Issue 11, p2613
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s17112613