StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environments Article Swipe
Danping Zou
,
Yuanxin Wu
,
Ling Pei
,
Haibin Ling
,
Wenxian Yu
·
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1810.06796
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1810.06796
We propose a novel visual-inertial odometry 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 coming. With fully exploration of structural lines that aligned with each local Manhattan worlds, our visual-inertial odometry method become more accurate and robust, as well as much more flexible to different kinds of complex man-made environments. Through extensive benchmark tests and real-world tests, the results show that the proposed approach outperforms existing visual-inertial systems in large-scale man-made environments
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/1810.06796
- https://arxiv.org/pdf/1810.06796
- OA Status
- green
- Cited By
- 3
- References
- 29
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2896458092
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2896458092Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.1810.06796Digital Object Identifier
- Title
-
StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made EnvironmentsWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2018Year of publication
- Publication date
-
2018-10-16Full publication date if available
- Authors
-
Danping Zou, Yuanxin Wu, Ling Pei, Haibin Ling, Wenxian YuList of authors in order
- Landing page
-
https://arxiv.org/abs/1810.06796Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1810.06796Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1810.06796Direct OA link when available
- Concepts
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Odometry, Artificial intelligence, Inertial frame of reference, Computer science, Benchmark (surveying), Computer vision, Visual odometry, Geography, Robot, Geodesy, Mobile robot, Physics, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
3Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 1, 2022: 1Per-year citation counts (last 5 years)
- References (count)
-
29Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.visual-inertial | 4, 81, 118 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 5 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.800000011920929 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile |